A Finite-Time Robust Adaptive Sliding Mode Control for Electro-Optical Targeting System With Friction Compensation

Zhou Xinli,Xingfei Li

doi:10.1109/access.2019.2953997

Abstract

In this paper, a novel finite-time robust adaptive nonsingular fast terminal sliding mode control strategy is designed to achieve high performance control for an electro-optical targeting system which is subjected to nonlinear friction and disturbance torque. First, a robust adaptive control technique is constructed to compensate modified LuGre model and disturbance torque. Then, a nonsingular terminal fast sliding mode is integrated into the robust adaptive control technique to implement response rapidity and enhance the robustness of the closed-loop system. Furthermore, the control strategy is proved by Lyapunov criterion within finite time. Finally, simulation and experimental results indicate that high accuracy, fast response and stable control performance are obtained by the proposed control strategy for the electro-optical targeting system.

Highlights

Electro-optical targeting system has raised considerable attention and played a more and more important roles recently in various realms, from ships, land, aircraft to satellites, civilian to military [1], [2]
EXPERIMENTS AND RESULTS Experiments are conducted and the experiment results are presented to fully prove the validity and practicability of the finite-time robust adaptive nonsingular fast terminal sliding mode control strategy
STEP EXPERIMENT In the first angle trajectory tracking experiment, a step signal with 20◦ within 6s based on finite-time robust adaptive sliding mode control strategy is shown in Fig.6(a) in blue curve

Summary

INTRODUCTION

Electro-optical targeting system has raised considerable attention and played a more and more important roles recently in various realms, from ships, land, aircraft to satellites, civilian to military [1], [2]. Li: Finite-Time Robust Adaptive Sliding Mode Control for Electro-Optical Targeting System With Friction Compensation designed to tackle nonlinear friction as well as uncertain parameters for hydraulic system. A nonsingular terminal sliding mode strategy was presented to achieve a high accurate position tracking control for linear piezoelectric ceramic actuators which are suffered from nonlinear friction, parametric variation and disturbances [26]. It is still of a difficult but challenging work to design a high-performance control strategy for electro-optical targeting system owing to friction and disturbance torque, which is not yet thoroughly solved. 3 Experimental results under different conditions, including step test, single frequency sinusoidal test and multiple frequency sinusoidal test, demonstrate that the designed controller in this paper is superior to the method in [3]

PROBLEM STATEMENT AND PRELIMINARIES

MODIFIED DYNAMIC LuGre MODEL

SYSTEM SIMULATION

EXPERIMENTS AND RESULTS

CONCLUSION