Fuzzy Sets and Systems

Fuzzy Sets and Systems 128 (2002) 81–93

www.elsevier.com/locate/fss

Design and real-time implementation of a multivariable gyro-mirror

line-of-sight stabilization platform

K.C. Tana; ∗ , T.H. Leea , E.F. Khora , D.C. Angb

a Department

of Electrical & Computer Engineering, National University of Singapore, 10 Kent Ridge Crescent,

Singapore 119260, Singapore

b Seagate Technology International, 63 The Fleming, Science Park Drive, Singapore Science Park, Singapore 118249, Singapore

Received 5 January 2000; received in revised form 19 April 2001; accepted 15 May 2001

Abstract

Gyro-mirror line-of-sight stabilization platform is a nonlinear, multivariable and highly coupled system. It forms the basis

of a wide range of practical instruments used for the purposes of sighting and targeting in both surface and airborne vehicles,

which is capable of maintaining the sightline of a mirror when it is subjected to external disturbances. However, a spinning

gyro has a property known as precession such that when a torque is applied to one axis, it will contrary to the intuition

of mechanics, and results the rotation in the direction of another axis. This behavior poses a problem in controlling the

line-of-sight since movement about one axis will cause a coupled movement in the other. In this paper, an e cient full-matrix

fuzzy logic controller is designed and implemented for a practical nonlinear gyro-mirror line-of-sight stabilization platform.

Both simulation and real-time experimental results demonstrate the e ectiveness of the designed full-matrix fuzzy gyroscope

control system, which o ers an excellent closed-loop response for the transient and tracking performances, with signiÿcant

reduction in the coupling e ect against cross-axis interactions. c 2002 Elsevier Science B.V. All rights reserved.

Keywords: Fuzzy control; Gyro-mirror; Genetic algorithms; Engineering applications

1. Introduction

Electro-optical (EO) sensors that are mounted on...