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Optical sensors are often mounted on moving platforms to aid in a variety oftasks like data collection, surveillance and navigation. This necessitates theprecise control of the inertial orientation of the optical sensor line-of-sight(LOS) towards a desired stationary or mobile target. A two-axis gimbal assemblyis considered to achieve this control objective which can be broken into twoparts - stabilization and tracking. The dynamics of a two-axis gimbal system isconsidered under a few design assumptions. Based on this dynamics, a novelstate space model is proposed. Using a suitable change of variables, this statespace model can be transformed into an LTI system. Feedback linearization basedcontrol laws are proposed that achieve the desired objectives of stabilizationand tracking. The effectiveness of these control laws are demonstrated viasimulation in MATLAB based on typical data of a two-axis gimbal system.

Control Design for Trajectory Tracking and Stabilization of Sensor LOS in an Inertially Stabilized Platform