Modeling of Three-Axis Gimbal System on Unmanned Air Vehicle (UAV) under External Disturbances

This study focuses on the modelling of 3 axis gimbal system with the RRR joint structure on the Unmanned Aerial Vehicle (UAV), which is autonomously moving for the target tracking, based on experimental input (motor velocities) and output (end effector position) data. The fact that UAVs move in a certain direction and that the camera on the end effector of the gimbal system on it is adhere to the correct target attracts many researchers. The transfer function of the 3 axis gimbal system is obtained by linearly structured OE-Output Error model using experimentally obtained data under different external disturbance effects. Model degree is determined and data set based verification is applied. Also, the performance is compared by examining the effect of external disturbance in the transfer function obtained.