A Study on Gimbal Motion Control System Design based on Super-Twisting Control Method

다국어 초록 (Multilingual Abstract)

Controlling an optical sensor’s line of sight (LOS) with an inertial stabilization system carried out on a dynamic platform is a challenging engineering task. The LOS needs to track a target object accurately despite intentional maneuvers, inadvertent motions, and additional disturbances. In this study, a super-twisting sliding mode controller (STSMC) is implemented to overcome this problem. The controller is designed based on the analysis of system dynamics. The stability is then proved to be satisfactory by the Lyapunov theory. Then, the control law is validated through experimental studies. In addition, a comparison to the performance of a linear controller is derived so that the effectiveness of the proposed controller is validated.

참고문헌 (Reference)

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