Terminal Sliding Mode Control with a Novel Reaching Law and Sliding Mode Disturbance Observer for Inertial Stabilization Imaging Sensor
1
Key Laboratory of Airborne Optical Imaging and Measurement, Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, China
2
University of Chinese Academy of Sciences, Beijing 100049, China
3
Information Engineering School, Inner Mongolia University of Science and Technology, Baotou 014010, China
*
Author to whom correspondence should be addressed.
Sensors 2020, 20(11), 3107; https://doi.org/10.3390/s20113107
Received: 24 April 2020
/
Revised: 25 May 2020
/
Accepted: 27 May 2020
/
Published: 31 May 2020
(This article belongs to the Special Issue Sensors and Robot Control)
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.
View Full-Text
Keywords:
terminal sliding mode control (TSMC); reaching law method; high-order terminal sliding mode observer (HOTSMO); disturbance rejection control; inertial stabilization imaging sensor (ISIS)
▼
Show Figures
Figure 1
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited
MDPI and ACS Style
Che, X.; Tian, D.; Jia, P.; Gao, Y.; Ren, Y. Terminal Sliding Mode Control with a Novel Reaching Law and Sliding Mode Disturbance Observer for Inertial Stabilization Imaging Sensor. Sensors 2020, 20, 3107. https://doi.org/10.3390/s20113107
AMA Style
Che X, Tian D, Jia P, Gao Y, Ren Y. Terminal Sliding Mode Control with a Novel Reaching Law and Sliding Mode Disturbance Observer for Inertial Stabilization Imaging Sensor. Sensors. 2020; 20(11):3107. https://doi.org/10.3390/s20113107
Chicago/Turabian StyleChe, Xin, Dapeng Tian, Ping Jia, Yang Gao, and Yan Ren. 2020. "Terminal Sliding Mode Control with a Novel Reaching Law and Sliding Mode Disturbance Observer for Inertial Stabilization Imaging Sensor" Sensors 20, no. 11: 3107. https://doi.org/10.3390/s20113107
Find Other Styles
Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.
