Stabilization and precise tracking control of a 2-axis antenna system mounted on a ground vehicle Bir kara platformu üzerinde konumlandırılmış iki eksenli anten sisteminin kararlılaştırılması ve hassas takip denetimi

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Gürbüz O., Özkan B., Tombul G. S.

Journal of the Faculty of Engineering and Architecture of Gazi University, cilt.41, sa.2, ss.1365-1378, 2026 (SCI-Expanded, Scopus, TRDizin)

  • Yayın Türü: Makale / Tam Makale
  • Cilt numarası: 41 Sayı: 2
  • Basım Tarihi: 2026
  • Doi Numarası: 10.17341/gazimmfd.1623658
  • Dergi Adı: Journal of the Faculty of Engineering and Architecture of Gazi University
  • Derginin Tarandığı İndeksler: Science Citation Index Expanded (SCI-EXPANDED), Scopus, Art Source, Compendex, TR DİZİN (ULAKBİM), Academic Search Ultimate (EBSCO), Engineering Source (EBSCO)
  • Sayfa Sayıları: ss.1365-1378
  • Anahtar Kelimeler: multi-input multi-output control, nonlinear disturbance observer, stabilization, tracking control, Two-axis gimbal
  • Açık Arşiv Koleksiyonu: AVESİS Açık Erişim Koleksiyonu
  • Gazi Üniversitesi Adresli: Evet

Özet

This study focuses on the line-of-sight (LOS) stabilization and precision tracking control of a two-axis gimbaled antenna system mounted on a ground platform. The primary performance criterion is to maintain the LOS error below 0.2° under GVF-105 Class A motion profiles, model uncertainties, and mass imbalance torques. For comparison, independent single-loop PID controllers—treating inter-axis coupling as a disturbance—were initially implemented. Subsequently, a linear equivalent control structure was obtained by decoupling the Euler-Lagrange model via the computed torque method, while disturbance torques were compensated using a nonlinear disturbance observer (NDOB). On this linear equivalent system, two different MIMO controllers were designed: a position-velocity feedback PD structure and a cascaded P/PI structure. Velocity and acceleration feedforward terms were integrated into the control architecture to mitigate gyroscope-induced phase lag. Simulation results demonstrate that while the single-loop controller fails to meet the target error threshold, the computed-torque-based dual-loop controllers remain within the 0.2° limit across all investigated scenarios.