Fuzzy PID with Active Disturbance Rejection Control for a Two-axis Gimbal

Compared with existing control algorithms for two-axis gimbal, ordinary PID or cascade PID has certain stability, but its dynamic performance is far from the engineering requirements, especially when the gimbal is under different loads and external non-ideal multi-source disturbance environments, the simple PID controller cannot achieve the control accuracy. Aims to improve the dynamic control performance of the two-axis gimbal, this paper proposes an anti-disturbance control method based on ADRC, which fully combines the physical model of the gimbal and uses the Extended State Observer (ESO) to observe the system state and controller output and compensates based on the observed disturbance. Meanwhile, to meet the dynamic performance of the controller, a cascade fuzzy PID controller is used, and dynamic PID parameters are used for adaptive control according to different loads and gimbal states. This controller design is the first of its kind to innovatively propose compensation for external disturbances and adaptive control using fuzzy PIDs according to different loads. Finally, through a series of comparative experiments, the proposed controller is validated, and compared with the traditional cascade PID controller, the fuzzy anti-disturbance gimbal controller proposed in this paper can make the gimbal exhibit stability and robustness under various disturbances and load conditions.