A Nonlinear Backstepping Controller Design for High-Precision Tracking Applications with Input-Delay Gimbal Systems

This paper proposes a novel nonlinear control approach for two-axis gimbal to achieve accurate real-time tracking performance in maritime surveillance applications. For this objective, the system must overcome complexities and limitations, including dynamics, coupled Euler angle-based measurements, delay time constraints. The backstepping controller was designed, taking into consideration nonlinearities couplings preserve stability. Then, an extra backstep incorporated minimize errors due time. proposed scheme enhances performances expands system’s bandwidth, which is validated simulations experimental studies comparison with super-twisting sliding mode introduced previous study.