Integral Sliding Mode Control for Vehicle-Mounted Gyro-Stabilized Platform Based on Extended State Observer

摘要：

　　For the problems of system performance degradation caused by nonlinearity such as friction and parameter varieties to a system,an integral sliding mode controller for vehicle-mounted gyro-stabilized platform based on extended state observer(ESO)was proposed.An error integral compensation term was introduced in the sliding surface base on the state variables in order to reduce the steady-state error and break through the restrictions that the derivative of the tracking signal must be known.The ESO was introduced to estimate and compensate the inner and outer disturbances of the system.This helps to reduce the required value of switching gain for the sliding mode control method,which can reduce the chattering phenomenon of system.The simulation and experiment result shows that the method can restrain the influences caused by the diversified nonlinearity,and can improve the system performance effectively.

关键词： Steady sighting system Nonlinearity disturbance Integral sliding mode control Extended state observer

作者: Haoze Sun Tianqing Chang Junwei Chen Lei Zhang Kuifeng Su

作者单位: Department of Control Engineering,Academy of Armored Force Engineering,PLA No 21,Dujiakan,Fengtai,Beijing,China

会议类型: 国际会议

会议名称: The 2015 Chinese Intelligent Automation Conference(2015中国智能自动化会议)

会议地点: 福州

会议语种:英文

页码: 159-168

在线出版日期: 2015-05-08（万方平台首次上网日期，不代表论文的发表时间）