Research on inertial reference units prescribed performance integral sliding mode angle control

Abstract

In this paper, a prescribed performance integral sliding mode control (ISMC) algorithm is proposed to realize high precision and rapid response for an inertial reference unit (IRU). To ensure rapid response, a tracking differentiator (TD) is introduced to arrange a transition process for a desired signal. Tracking error is limited within two prescribed performance function (PPF) bounds to improve transient performance of the IRU. By a prescribed performance error transformation, an error transformation system is established to transform the original constrained system into an equivalent unconstrained one for the IRU. A prescribed performance integral sliding mode controller is designed for the error transformation system to ensure stead-state accuracy. Stability of the prescribed performance ISMC algorithm is proved by a Lyapunov method. Comparative experiments are given to verify effectiveness and robustness of the prescribed performance ISMC algorithm for the IRU.