Adaptive Terminal Sliding Mode Control of Opto-Electronic Stabilized Platform Based on Acceleration Feedback

Abstract

In order to overcome the effect of the friction and the nonlinear disturbance in the high precision Opto-electronic(EO) servo-stabilized platform system, adaptive terminal sliding mode control (ATSMC) base on acceleration feedback is introduced in the system. Different to traditional sliding mode control, a terminal sliding surface is introduced to assure finite convergent time of control errors on the surface. In addition, due to unknown bound of uncertainty, an adaptive law is derived to compensate the effect. As a result, in this control strategy, the ATSMC controller was used to improve the tracking accuracy in the position loop; the acceleration feedback controller was introduced to compensate for friction torque and disturbance. The simulation results show the proposed control scheme to be effective.