Continuous nonsingular terminal sliding mode control of optical-electronic tracking system subject to multiple disturbances
MAO Jian-liang
LI Qi
ZHU Hai-rong
Abstract：A continuous nonsingular terminal sliding mode control method based on finite-time disturbance observer is put forward for the optical-electronic tracking system subject to multiple disturbances. First, a finite-time disturbance observer is designed to estimate the lumped uncertainty, which is used for the fast power exponential reaching law de-sign. Combining with the nonsingular fast terminal sliding mode and equivalent control method, the continuous finite-time control law is derived. By using Lyapunov stability theory, the rigorous finite-time convergence proof is given. Second, 2–DOF optical-electronic tracking system is modeled and the multiple interference factors influencing the control preci-sion are analyzed. Then, the control law design is implemented based on the proposed method. Finally, the comparative simulations and experiments are performed to verify the effectiveness of the proposed method according to the practical working environment. It is shown that the system output can converge to the equilibrium point in finite time even in the presence of multiple disturbances with the proposed method such that the disturbance rejection ability and control precision are improved.
Keywords：finite-time disturbance observercontinuous nonsingular terminal sliding modepower reaching lawoptical-electronic tracking system
Publication Date：2017-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：11( 413-423 )