Design and Analysis of a Fuzzy PID Controller In Comparison with Other Controllers for Pitch-Yaw Gimbal

In this paper, a complete model, including the cross-coupling of the azimuth and elevation axes, the effect of axis friction, non-perpendicularity, and imbalance of the axes, was implemented for a platform with two degrees of freedom. Since this model includes three loops of current, stability, and tracking from the inside to the outside, it is necessary to design a suitable controller for each loop separately from the inside to the outside after linearizing the obtained model. Also, due to two channels, azimuth and elevation, it was necessary to repeat and design three controllers for both channels separately. Since this article aims to compare the performance of different controllers, PID, Fuzzy, Fuzzy PID, and Fuzzy self-tuning controllers for both channels and all loops, their design and implementation in time domains were analyzed. In the end, the relative advantages of each controller according to different parameters of the system were presented in a comparative table and shown that each has advantages and disadvantages depending on angular rates and disturbances.