Camera stabilization systems are employed in several types of mobile robots. The objective is to maintain the attitude of the camera constant despite the movements of the host vehicle. This paper deals with the problem of stabilizing a platform using a three-degree-of-freedom gimbal as mechanical actuator. Mechanical unbalances are considered and a multivariable version of the unit vector control (UVC) is employed. The algorithm employs a newly proposed differentiator based on higher order sliding modes that is global and exact. This differentiator can also be used for monitoring and estimation purposes in mechatronic systems. Simulation results are presented using data acquired from an unmanned aerial vehicle (UAV) in autonomous flight.

中文翻译：

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用于惯性稳定平台的不平衡三轴万向节的单位矢量控制

相机稳定系统用于多种类型的移动机器人。目标是在主车辆移动的情况下保持摄像机的姿态不变。本文研究了使用三自由度万向节作为机械执行器来稳定平台的问题。考虑了机械不平衡，并采用了单位矢量控制 (UVC) 的多变量版本。该算法采用新提出的微分器，该微分器基于全局且精确的高阶滑动模式。该微分器还可用于机电系统中的监控和估计目的。使用从无人驾驶飞行器 (UAV) 自主飞行中获取的数据呈现仿真结果。