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

Che, Xin; Tian, Dapeng; Jia, Ping; Gao, Yang; Ren, Yan

doi:10.3390/s20113107

Cited by 9 publications

(9 citation statements)

References 27 publications

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“…The traditional sliding mode control method has been applied in the positioning control of the overhead crane due to its advantages of simple design and strong anti-interference ability, but it also has the problem of slow tracking convergence [7]. Terminal Sliding Mode Control (TSMC) is an improvement on traditional sliding mode, which can achieve finite-time stabilization of overhead crane systems [8], but there are discontinuous terms in the sliding mode control signal, which can lead to chattering and chattering. There are non-singular phenomena.…”

Section: Introductionmentioning

confidence: 99%

A Parameters Adaptive Non-Singular Terminal Sliding Mode Control Method for Overhead Crane System

2022

IJFET

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In this paper, a non-singular terminal sliding mode control method based on parameter adaptation is proposed for trajectory tracking control of overhead cranes with parameter uncertainties. The method can realize fast tracking of the planned overhead crane trajectory when the payload mass and the length of the suspension rope are unknown. At the same time, the hyperbolic tangent function is used to replace the switching term in the sliding mode control, which improves the robustness of the control method to external disturbances to suppress the charting during the crane operation. Using Lyapunov theorem, it is proved that the displacement trajectory can converge to the target trajectory in a finite time. The effectiveness of the proposed control scheme is verified by platform experiments.

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Section: Introductionmentioning

confidence: 99%

A Parameters Adaptive Non-Singular Terminal Sliding Mode Control Method for Overhead Crane System

2022

IJFET

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“…As for the development of guidance laws, sliding mode control (SMC) theory has been regarded as a powerful tool to design guidance laws with constraints. By constructing the sliding manifold with the first-order states (LOS angle) and second-order states (LOS angular rate), SMC method can reach global stabilization, where the sliding mode surface converges to zero [24,25]. In [26], a nonsingular terminal sliding mode guidance law was implemented, which considered the impact angle constraint.…”

Section: Introductionmentioning

confidence: 99%

Measurement Compensation for Time-Delay Seeker and Three-Dimensional Adaptive Guidance Law Design

Liu

Qiao³

et al. 2021

Sensors

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The time delay of seekers has grown to be a serious issue for tactical missile guidance with the development of flight vehicle technologies. To address the problem, a measurement compensation system for the seeker, with lags and delays based on predictive active disturbance rejection control, is proposed. In addition, to eliminate the effects of target maneuvers to the tactical missile guidance, an adaptive finite-time convergent sliding mode guidance law, based on super-twisting algorithm, is proposed in three-dimensional missile-target engagement kinematics. Specifically, the compensation system consists of a predictive tracking structure and an active disturbance rejection control system, which could follow a virtual measurement without lags and delays. The compensation system has advantages in disturbance rejection and model inaccuracy addressing, compared with existing compensation methods for seeker measurement. As for the sliding mode guidance law design, the proposed approach is based on an improved super-twisting algorithm with fast convergent adaptive gains, which has advantages in addressing unknown but bounded target maneuvers and avoiding chattering of the classical sliding mode control. As a result, the measurement compensation system and the adaptive sliding mode guidance law is verified robust and effective under the proposed constraints by the simulation examples.

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“…Initially stabilized platform is widely used in the field of modern aerial remote sensing [ 1 , 2 , 3 ]. Its main function is to isolate payloads from external disturbance and ensure the relative stability of the line of sight (LOS) in inertial space, so as to implement diverse missions such as battle reconnaissance, aerial photography, environmental disaster monitoring, etc.…”

Section: Introductionmentioning

confidence: 99%

“…Its main function is to isolate payloads from external disturbance and ensure the relative stability of the line of sight (LOS) in inertial space, so as to implement diverse missions such as battle reconnaissance, aerial photography, environmental disaster monitoring, etc. So far, most typical optical stabilized platforms have integrated multiple payloads to satisfy various surveillance and reconnaissance purposes [ 2 , 3 ]. However, the total number of payloads is limited by the structural space; on the other hand, the stacking of multiple payloads is redundant for different customers.…”

Section: Introductionmentioning

confidence: 99%

“…In the practical applications, it is necessary to conservatively estimate a sufficiently large constant for the uncertain upper bound, which will increase the control quantity and cause unnecessary chattering accordingly. Up to now, there are generally two methods to solve the chattering, one is to employ a continuous function such as smooth hyperbolic tangent function to replace symbolic function [ 26 ], the other one is to adjust switching gain by designing a new reaching law [ 3 , 27 , 28 ]; it is worth mentioning that the latter can also shorten the convergence time when the system state is far away from the equilibrium state.…”

Section: Introductionmentioning

confidence: 99%

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High Performance Both in Low-Speed Tracking and Large-Angle Swing Scanning Based on Adaptive Nonsingular Fast Terminal Sliding Mode Control for a Three-Axis Universal Inertially Stabilized Platform

Wang

Yang

Kuang

et al. 2020

Sensors

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In order to improve the performance in the practical engineering applications including so called low-speed video tracking and large-angle swing scanning imaging at the same time for a three-axis universal inertially stabilized platform (UISP), we propose an adaptive nonsingular fast terminal sliding mode control (ANFTSMC) strategy subjected to the uncertain disturbances and input saturation constraints. First of all, a second-order dynamic model is established with uncertain disturbances and input saturation constraints. Secondly, a nonsingular fast terminal sliding mode controller (NTSMC) is constructed to ensure the system error converges to zero fast in a finite time; meanwhile, a novel reaching law based on a modified normal distribution function is designed to adjust the control gain. Thirdly, an adaptive control law is designed to online estimate the parameters of the lumped uncertain disturbances. Additionally, the stability of the control system is proved by Lyapunov theory. Finally, extensive comparative simulations and experiments are carried out, the results comprehensively show the effectiveness and superiority of the proposed control method, which can accelerate convergence, weaken the chattering, and has the better control accuracy and robust performance both in the low-speed tracking and large-angle swing scanning applications. Moreover, the exact dynamic model and the prior knowledge of the upper bounds of the disturbances are not required during the procedure of the controller design, which make it have more extensive application value in practical engineering.

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

Cited by 9 publications

References 27 publications

A Parameters Adaptive Non-Singular Terminal Sliding Mode Control Method for Overhead Crane System

A Parameters Adaptive Non-Singular Terminal Sliding Mode Control Method for Overhead Crane System

Measurement Compensation for Time-Delay Seeker and Three-Dimensional Adaptive Guidance Law Design

High Performance Both in Low-Speed Tracking and Large-Angle Swing Scanning Based on Adaptive Nonsingular Fast Terminal Sliding Mode Control for a Three-Axis Universal Inertially Stabilized Platform

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