Nonlinear control formulation based on sliding mode control applied to a 2-DOF control moment gyroscope

Abstract

Abstract Though conceptualization of nonlinear sliding mode control has gained great emphasis in mechatronics and nonlinear systems in general, little attention is given to real time implementation owing to its inadequacy in handling mismatched uncertainties. This work contemplates on a robust nonlinear control scheme with sliding mode control and extended Kalman filter in closed-loop to estimate and handle bounded uncertainties. Stability of this closed-loop framework is established through Lyapunov analysis. The proposed formulation is first validated on a simulation platform and then implemented on a 2-DOF experimental gyroscope setup. Efficacy of this approach is evident from its rigorous tracking performance attained with a smooth and bounded control profile, despite induced uncertainties in various forms.