Decentralized sliding mode control in three-axis inertial platforms. (English) Zbl 0835.93042

Shtessel, Yuri B.

J. Guid. Control Dyn. 18, No. 4, 773-781 (1995).

Summary: The accuracy improvement of three-axis inertial platform stabilization systems with a dynamically tuned gyroscope sensor by methods of variable structure control is addressed. The decentralized sliding mode control strategy has been worked out and applied for the design. Nonlinear transformations adapted to the subsystems are convenient for the sliding mode synthesis. The local sliding manifolds have been designed in the form of nonlinear functions and nonlinear dynamic operators to provide the desired linear decoupled output tracking (stabilization) in each axis of the inertial platform stabilization system. The system with the dynamic sliding mode controller obtained by combined features of a system with a conventional dynamic compensator (accommodation to unmatched disturbances) and a conventional sliding mode controller (insensitivity to matched disturbances). The results of the simulation of the three-axis inertial platform stabilization system with the designed conventional and the dynamic sliding mode controllers showed significant improvement of accuracy (2-3 times better then in systems with linear controllers) of platform stabilization.

MSC:

93C95	Application models in control theory
93B12	Variable structure systems
93A14	Decentralized systems

Keywords:

inertial platform; decentralized sliding mode; tracking; stabilization