Extended State Observer Based Estimation of 2-DOF Gimbal Systems Under Disturbances Bozucu Altinda 2-DOF Gimbal Sistemlerinde Genişletilmiş Durum Gözleyici Tabanli Kestirim
34th Signal Processing and Communications Applications Conference, SIU 2026, İstanbul, Turkey, 7 - 10 July 2026, (Full Text)
- Publication Type: Conference Paper / Full Text
- Doi Number: 10.1109/siu71813.2026.11636903
- City: İstanbul
- Country: Turkey
- Keywords: ADRC, Disturbance Estimation, Extended State Observer, Gimbal Systems, State Estimation
- Middle East Technical University Affiliated: Yes
Abstract
This study presents the modeling, state estimation, and disturbance estimation of a two-degree-of-freedom (2-DOF) gimbal system under external disturbances. To mitigate the effects of unknown and time-varying disturbances, an Extended State Observer (ESO)-based approach is employed, enabling simultaneous estimation of system states and disturbances. The ESO is designed using pole placement, with observer gains derived from a bandwidth parameter. System performance is evaluated under sinusoidal disturbances at various frequencies, including those near the system's natural frequencies. Simulation results indicate that the ESO achieves accurate state and disturbance estimation and maintains stable performance even under resonance-like conditions.