A Nonlinear Backstepping Controller Design for High-Precision Tracking Applications with Input-Delay Gimbal Systems

This paper proposes a novel nonlinear control approach for a two-axis gimbal to achieve accurate real-time tracking performance in maritime surveillance applications. For this objective, the control system must overcome system complexities and limitations, including nonlinear dynamics, coupled Euler angle-based measurements, and delay time constraints. The nonlinear backstepping controller was designed, taking into consideration the nonlinearities and system couplings to preserve the system stability. Then, an extra backstep was incorporated to minimize the control errors due to the delay time. The proposed control scheme enhances the tracking performances and expands the system's bandwidth, which is validated in the simulations and experimental studies in comparison with a super-twisting sliding mode controller introduced in a previous study.

Automated summary

This paper presents a novel nonlinear control approach for achieving accurate real-time tracking performance in maritime surveillance applications for a two-axis gimbal. The proposed nonlinear backstepping controller is designed to enhance tracking performance and system stability, with an additional backstep to minimize control errors due to delay time. Simulation and experimental studies validate the improvements in tracking performance and system bandwidth compared to a previous super-twisting sliding mode controller.