Abstract: Stable tracking of target signals by the vehicle-borne antenna turntable in the complex environment is crucial in aerospace and defense applications. The self-stabilization algorithms and control methods are studied for small and medium-sized two-axis antenna turntable on vehicle-borne platforms in this paper. Firstly, the kinematic model of the two-axis antenna turntable is established and the stability conditions of the antenna are derived, which provides a theoretical foundation for subsequent control algorithm design. Subsequently, based on traditional dual-loop control, a disturbance observer is introduced to eliminate the effects of unmodeled disturbances, and an iterative compensation algorithm is used to enhance tracking accuracy and optimize the dynamic stability performance of the system. Finally, the effectiveness and reliability of the proposed method are verified through simulations and experiments. The results demonstrate that the control strategy significantly improves the tracking accuracy and stability of the antenna turntable in complex environments, which meets the requirements of high-precision pointing and rapid response.