Modeling and Compound Control for Unmanned Turret System With Coupling

Abstract

In this paper, the modeling and tracking control problem of unmanned turret system (UTS) is addressed. To guarantee the feasibility of modeling and control, three-axis stabilization is analyzed. A complete mathematical model for UTS is then established based on robotic analysis technique. The coupling model also takes inner parameters perturbation and external disturbances into consideration. To achieve rapid response and high tracking precision, a fast nonsingular terminal sliding mode control scheme is designed compounding with extended state observer (ESO). Owing to the estimating ability of ESO, this control scheme can reduce the chattering phenomena remarkably. Finally, simulation results are presented to illustrate effectiveness of the control strategies.