Multiactuators Control for Prototype Panorama Scanning Imaging With Input Saturation

Abstract

In this article, we propose an adaptive sliding mode control scheme with a saturation coefficient (ASMC-SC) for panorama scanning imaging with multiple actuators in the presence of input saturation. By introducing a SC into the sliding surface and adaptive parameters, the actuator drive capability is more fully utilized, and undesired accumulations of adaptive parameters are avoided. A stability analysis was performed using the Lyapunov stability arguments. The simulation and experimental results show that the ASMC-SC guarantees imaging efficiency and has a better tracking performance.