Anti-Disturbance Neural-Sliding Mode Control for Inertially Stabilized Platform With Actuator Saturation

High-performance control of inertial stabilization imaging sensors (ISISs) is always challenging because of the complex nonlinearities induced by friction, mass imbalance, and external disturbances. To overcome this problem, a terminal sliding mode controller (TSMC) based on a novel exponential reaching law (NERL) method with a high-order terminal sliding mode observer (HOTSMO) is suggested. First, the TSMC based on NERL is adopted to improve system performance. The NERL incorporates the power term and switching gain term of the system state variables into the conventional exponential reaching law, and the convergent speed of the TSMC is accelerated. Then, an HOTSMO is designed, which considers the speed and lumped disturbances of the system as the observation object. The estimated disturbance is then provided as a compensation for the controller, which enhances the disturbance rejection ability of the system. Comparative simulation and experimental results show that the proposed method achieves the best tracking performance and the strongest robustness than PID and the traditional TSMC methods.

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“…The Stribeck model is adopted to describe the static and dynamic friction of the ISIS system. It is given as [26]…”

Section: Friction Torquementioning

confidence: 99%

Terminal Sliding Mode Control with a Novel Reaching Law and Sliding Mode Disturbance Observer for Inertial Stabilization Imaging Sensor

Che

Tian

Jia

et al. 2020

Sensors

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“…Besides, the gimbal's kinematics are complex due to the intertwined trigonometric functions [12]. The system dynamics are highly nonlinear, the nonlinearities are mainly induced by unbalanced masses, parameter uncertainties, and torque disturbances ( [22][23][24][25][26][27]). Additionally, difficulties may also come from the imaging geometry couplings along with the gimbal system's lack of controllable directions and measurable variables [28,29].…”

Section: Introductionmentioning

confidence: 99%

A Study on Vision-Based Backstepping Control for a Target Tracking System

et al. 2021

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This paper proposes a new method to control the pose of a camera mounted on a two-axis gimbal system for visual servoing applications. In these applications, the camera should be stable while its line-of-sight points at a target located within the camera’s field of view. One of the most challenging aspects of these systems is the coupling in the gimbal kinematics as well as the imaging geometry. Such factors must be considered in the control system design process to achieve better control performances. The novelty of this study is that the couplings in both mechanism’s kinematics and imaging geometry are decoupled simultaneously by a new technique, so popular control methods can be easily implemented, and good tracking performances are obtained. The proposed control configuration includes a calculation of the gimbal’s desired motion taking into account the coupling influence, and a control law derived by the backstepping procedure. Simulation and experimental studies were conducted, and their results validate the efficiency of the proposed control system. Moreover, comparison studies are conducted between the proposed control scheme, the image-based pointing control, and the decoupled control. This proves the superiority of the proposed approach that requires fewer measurements and results in smoother transient responses.

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“…Although the above researches improve the tracking accuracy, the upper bound of the DAC compensation signal is extremely large. 26,27 Consequently, the high precision requirements in practical applications are difficult to satisfy in practical applications.…”

Section: Introductionmentioning

confidence: 99%

Tracking control via sliding mode for heavy-haul trains with input saturation

Yang

Zhang

et al. 2020

Measurement and Control

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To address the tracking control problem of heavy-haul trains (HHTs) with input saturation during operation, an anti-saturation sliding mode (SMES) control method based on dynamic auxiliary compensator (DAC) is presented. Firstly, an HHT model with nonlinear coupling and uncertain disturbances is built. Secondly, a new type of DAC is introduced to overcome the difficulty of traditional dynamic auxiliary compensator (TDAC) with a large upper bound on the compensation signal. Finally, an anti-saturation SMES control algorithm is designed to reduce the influence of input saturation on the tracking accuracy of each carriage. Simulation results verify the effectiveness of the algorithm in terms of tracking accuracy, anti-interference, and anti-saturation.

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Anti-Disturbance Neural-Sliding Mode Control for Inertially Stabilized Platform With Actuator Saturation

Cited by 26 publications

References 33 publications

Terminal Sliding Mode Control with a Novel Reaching Law and Sliding Mode Disturbance Observer for Inertial Stabilization Imaging Sensor

Terminal Sliding Mode Control with a Novel Reaching Law and Sliding Mode Disturbance Observer for Inertial Stabilization Imaging Sensor

A Study on Vision-Based Backstepping Control for a Target Tracking System

Tracking control via sliding mode for heavy-haul trains with input saturation

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