Data-Driven PD Gimbal Control

In this paper, PD parameters tuning method for controlling a gimbal device is proposed. The gimbal device which is the controlled object, is one of hanging devices, and it is used to keep the camera to be the horizontal position. For example this technique has been paid to attention in the aerial photography by the RC helicopter. However, it is thought as a problem that the camera vibrates and the image shakes in the aerial photography by the RC helicopter. Therefore, the position of the camera is first controlled so that the camera may always move to the horizontal position in the ground. As the control technique, the gimbal device is controlled by using the data-driven PD control technique. In this paper, the design scheme of the control system is discussed, and the behavior of the control system is examined in the experimental equipment.