Control of single-axis roll stabilized servo platform based on adaptive nonsingular and fast terminal dynamic sliding mode
XU Xu-ya · Journal of Chinese Inertial Technology · 2013
To improve the robustness and control precision of single-axis roll stabilized servo platform(SRSSP) in strap-down inertial navigation system, a novel servo control method based on adaptive nonsingular and fast terminal dynamic sliding mode is presented. The principle of SRSSP is introduced, and an adaptive nonsingular and fast terminal sliding mode control method with steady-state error and chatting is analyzed. Based on three-loop PID servo control ideology, a linear segment is configured by system state variables, then a nonsingular and fast terminal dynamic sliding mode controller is developed based on the segment, and the boundary of parameter uncertainty and external disturbance is estimated by adaptive law. The new control method can realize accurate control of the position and speed. Meanwhile, the chattering in sliding mode is greatly attenuated. Simulation results show that the new sliding mode servo control method is feasible, and can improve the robustness and accuracy of the servo platform.