Synergetic Control of a Three-axis Gimbal on a Moving Base

Cardan suspension is a component of many modern technical complexes in which it is necessary to provide immobility of a working body or other device relative to some spatial position or to carry out rotation along a complex spatial trajectory. In this case, the control of gimbal in the condition of a moving base is a nontrivial task, because in addition to the nonlinearity of the object itself and the presence of various kinds of uncertainties, it is necessary to take into account the irregular nature of the motion of the base, which is generally described by random processes. The problem of controlling a nonlinear object under conditions of uncertainties in the parameters of the object and the influence is currently quite successfully solved by methods of adaptive control, but classical approaches based on parameterisation and "direct compensation" are poorly suited to work with random influences, as they require a deterministic description. The solution is seen in the application to this problem of the theory of control on manifolds, which in the domestic literature is called synergetic control. This paper is devoted to verifying the applicability of synergetic control to the problem of stabilisation of a three-axis gimbal on a moving base.