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Keywords = inertial stabilization imaging sensor (ISIS)

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18 pages, 6506 KB  
Article
Terminal Sliding Mode Control with a Novel Reaching Law and Sliding Mode Disturbance Observer for Inertial Stabilization Imaging Sensor
by Xin Che, Dapeng Tian, Ping Jia, Yang Gao and Yan Ren
Sensors 2020, 20(11), 3107; https://doi.org/10.3390/s20113107 - 31 May 2020
Cited by 13 | Viewed by 3046
Abstract
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 [...] Read more.
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. Full article
(This article belongs to the Special Issue Sensors and Robot Control)
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