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Robust control of a miniature motor gimbal



Nikolaos Kariotoglou, Reto Hofmann

Motor gimbal stabilization (link) is a challenging topic in applied control theory where the state-of-the-art is still achieved by a cascade of PID controllers (see e.g. link). In the past few years the topic has received more attention due to the integration of motor stabilizers in drone systems that need to be lightweight and stabilize camera lenses under all operating conditions (link).

The project will investigate the topic of gimbal motor control design focusing on applications where size, weight and most importantly disturbance rejection is a critical issue. We will build an experimental platform using miniature Brushless DC motors and a custom made motor control board capable of running state-of-the-art embedded MPC software (e.g. FORCES Pro – Using the designed platform, we will test different control algorithms for the stabilization of gimbal loads such as miniature cameras (e.g. the Raspberry pi camera). The resulting controllers will be evaluated on a drone platform, the DJI Phantom 3, retrofitted with the prototype miniature gimbal platform.

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John Lygeros

Art der Arbeit: Control design and application
Voraussetzungen: Control Systems I & II, System Theory
Anzahl StudentInnen:
Status: taken
Projektstart: TBD
Semester: Open