Performance of fractional order controllers for two axis gimbal system

Abstract

The importance of enhanced performance provided by air attack systems has been steadily increasing over time. Typically, these systems encompass navigation and surveillance functions. Gimbal systems comprise mechanical or electronic devices designed to meet specific requirements related to surveillance, navigation, and target tracking. In order to provide high target tracking capability for the gimbal system used, a fractional-order proportional-integral (FOPI) controller has been designed in the speed loop. To compare the designed fractional-order controller with the traditional integer-order controller structure, a system description was initially made, and the system model was obtained. In this study for the yaw axis of the gimbal system, the FOPI controller is developed using Tustin, Simpson, and Al-Alaoui discretization methods. Simulation and real system outputs of these discretization methods employed in the FOPI controller are obtained. The performance of integer-order and fractional-order controllers is compared by presenting numerical data. Various optimization methods are employed for the fractional-order controller. These methods are tested on the real system, and the improvements in the controller are presented.