Adaptive Sliding-Mode Control for Inertial Reference Units via Adaptive Tracking Differentiators

Abstract

In this article, an adaptive sliding-mode control strategy is investigated for an inertial reference unit with an adaptive tracking differentiator (TD). A dynamic second-order system is established from a spring-mass-damper system by abstracting and analyzing the inertial reference unit. The adaptive TD is used to reduce overshoot and improve tracking speed for the inertial reference unit by designing adaptive parameters and hyperbolic tangent functions. An adaptive sliding-mode controller is designed to improve response rapidity via adaptive laws and adaptive gains based on an integral terminal sliding-mode function. Effectiveness analysis is shown on error convergence for the adaptive TD and the adaptive sliding-mode controller based on Lyapunov methods. A series of experiments are given to illustrate the effectiveness of the adaptive sliding-mode control strategy in the inertial reference unit.