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
文献类型：期刊论文
| 作者 | Y. C. Wang,Y. M. Yang,H. P. Kuang,D. M. Yuan,C. F. Yu,J. Chen,N. Hua and H. Hou |
| 刊名 | Sensors
 |
| 出版日期 | 2020 |
| 卷号 | 20期号:20页码:23 |
| DOI | 10.3390/s20205785 |
| 英文摘要 | 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. |
| URL标识 | 查看原文 |
| 语种 | 英语 |
| 源URL | [http://ir.ciomp.ac.cn/handle/181722/64551]  |
| 专题 | 中国科学院长春光学精密机械与物理研究所 |
| 推荐引用方式 GB/T 7714 | Y. C. Wang,Y. M. Yang,H. P. Kuang,D. M. Yuan,C. F. Yu,J. Chen,N. Hua and H. Hou. 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[J]. Sensors,2020,20(20):23. |
| APA | Y. C. Wang,Y. M. Yang,H. P. Kuang,D. M. Yuan,C. F. Yu,J. Chen,N. Hua and H. Hou.(2020).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.Sensors,20(20),23. |
| MLA | Y. C. Wang,Y. M. Yang,H. P. Kuang,D. M. Yuan,C. F. Yu,J. Chen,N. Hua and H. Hou."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".Sensors 20.20(2020):23. |
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