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MIMO Fuzzy Sliding Mode Control for Three-Axis Inertially Stabilized Platform.

Zhanmin Zhou1,2, Bao Zhang3, Dapeng Mao4

  • 1Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, China. zhouzhanmin@ciomp.ac.cn.

Sensors (Basel, Switzerland)
|April 10, 2019
PubMed
Summary

A novel Multi-Input Multi-Output (MIMO) fuzzy sliding mode control method effectively manages a three-axis inertially stabilized platform. This advanced control suppresses frame coupling and ensures high tracking accuracy.

Keywords:
MIMOfuzzy logicsliding modethree-axis inertially stabilized platform

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Area of Science:

  • Control Systems Engineering
  • Robotics
  • Mechatronics

Background:

  • Inertially stabilized platforms (ISPs) are crucial for maintaining orientation in dynamic environments.
  • Dynamic coupling between the azimuth, pitch, and roll frames presents a significant challenge in ISP control.
  • Existing control methods may not fully address the complex interferences in multi-axis systems.

Purpose of the Study:

  • To propose a novel control strategy for a three-axis ISP.
  • To fully account for the dynamic coupling among the azimuth, pitch, and roll frames.
  • To enhance the tracking accuracy and robustness of ISPs.

Main Methods:

  • Development of a Multi-Input Multi-Output (MIMO) fuzzy sliding mode control (SMC) algorithm.
  • Analysis and linearization of the three-axis ISP dynamic model.
  • Integration of fuzzy logic for adaptive frame coupling compensation within the SMC framework.
  • Mathematical proof of system stability and convergence.

Main Results:

  • The proposed MIMO fuzzy SMC method effectively suppresses coupling interference between the three frames.
  • The controller demonstrates superior tracking accuracy compared to a conventional PI controller.
  • Adaptive fuzzy compensation enhances the platform's ability to handle dynamic coupling.

Conclusions:

  • The developed MIMO fuzzy sliding mode control is a viable and effective solution for three-axis ISPs.
  • This approach significantly improves system performance by mitigating cross-axis coupling.
  • The findings offer a robust control strategy for applications requiring high-precision stabilization.