Design of Sliding Mode Control with Disturbance Observers for Inertial Platform

摘要：

　　In the flight process,the disturbances such as vibrations and frictions affect the stability accuracy of the servo loop of the inertial platform.Besides,the model uncertainties exist due to the couplings of the three subsystem of the inertial platform.This paper presents a sliding mode controller based on a proportional integral (PI) disturbance observer.The state variables and disturbing torque are estimated accurately by the PI observer.Additionally,an integral sliding mode controller is designed.The vibration and stability error are reduced by employing the integral items of the states in designing the sliding mode surface.The simulation results show that the proposed methods can improve the control precision of the servo loop of the platform.

关键词： integral sliding mode control disturbance observer stabilized control of platform

作者: Yue Hu Yuan Cao Shifeng Zhang

作者单位: College of Aerospace Science and Engineering, National University of Defense and Technology, Changsha 410073

会议类型: 国际会议

会议名称: the 25th Chinese Control and Decision Conference(第25届中国控制与决策会议)

会议地点: 贵阳

会议语种:英文

页码: 4652-4656

在线出版日期: 2013-05-01（万方平台首次上网日期，不代表论文的发表时间）