High Performance Both in Low-Speed Tracking and Large-Angle Swing Scanning Based on Adaptive Nonsingular Fast...

Area of Science:

• Control Systems Engineering
• Robotics
• Mechatronics

Background:

• Three-axis universal inertially stabilized platforms (UISP) face challenges in simultaneous low-speed video tracking and large-angle swing scanning.
• Practical engineering applications require robust control strategies that handle uncertain disturbances and input saturation.

Purpose of the Study:

• To propose an adaptive nonsingular fast terminal sliding mode control (ANFTSMC) strategy for UISPs.
• To improve control performance, accuracy, and robustness in demanding applications.
• To develop a control method that does not require prior knowledge of disturbance bounds.

Main Methods:

• A second-order dynamic model for the UISP was established, incorporating uncertain disturbances and input saturation.
• A nonsingular fast terminal sliding mode controller (NTSMC) was designed for finite-time convergence.
• A novel reaching law using a modified normal distribution function was developed to adjust control gain.
• An adaptive control law was implemented for online estimation of lumped uncertain disturbances.
• Lyapunov theory was used to prove the stability of the control system.

Main Results:

• The proposed ANFTSMC strategy demonstrated accelerated convergence and reduced chattering.
• The method achieved superior control accuracy and robust performance in both low-speed tracking and large-angle swing scanning.
• Simulations and experiments validated the effectiveness and superiority of the ANFTSMC approach.

Conclusions:

• The ANFTSMC strategy offers significant improvements for UISP performance in complex engineering applications.
• The adaptive nature and reduced model dependency enhance its practical applicability.
• This control method provides a valuable solution for enhancing the capabilities of inertially stabilized platforms.