Optimization of hybrid fuzzy proportional derivative controller using PSO for single axes Gimbal System

Abstract

A gimbal is a device that can stabilize payload or an object around a single or several axes of rotation. Inertially stabilized platform is another term for a gimbal (ISP). The gimbal mechanism is divided into two categories. The first part is the scanning application. The second group is tracking application. The sensor axis should be accurately focused on target point for a suitable gimbal system. Tuning process for controllers is the critical issues. Since, manual tuning considered as a time consuming and can’t achieve the best system performance, Particle Swarm Optimization (PSO) method has been used to optimize the Proportional Integral Derivative (PID) and Fuzzy Logic Controller (FLC). Manual tuning FLC has achieved a better performance than Ziglor Niclos PID controller. The best performance has been achieved I when utilizing the FLC scaling factors with optimized Proportional Derivative (PD) controller. The results were satisfying and the objective of this project has been achieved, where the settling time was equal to 0.2 seconds, zero overshoot and zero steady state error.