基于扩张状态观测器的稳定平台非奇异终端滑模控制

Abstract:This paper presents a composite control strategy which employs the nonsingular terminal sliding mode (NTSM) control based on extended state observer (ESO). The influence of the multi-source disturbances on the control performance of the inertially stabilized platform (ISP) for aerial mete sensing applications is effectively suppressed. The stability and tracing accuracy of the ISP are also improved. The high-precision remote sensing images are achieved. Firstly, the NTSM control strategy is adopted to restrain the multi-source disturbances, in which the disturbances are taken as a total disturbance. By designing and optimizing the control interface and the control law of the NTSM, the influences of the disturbances on the control performance are effectively decreased. Then, the ESO is used to solve the chattering problem in the sliding mode. By transmitting the observed state and sum of interferences to the NTSM controller, the control law is further optimized and the chattering disturbance is suppressed in real time. Finally, simulation and experimental evaluations are carried out, respectively. The results show that the proposed method can effectively improve the disturbance suppression ability and stability accuracy of the ISP.