Mousavi Yashar, Zarei Amin, Jahromi Zeinabosadat Sane
Department of Applied Science, School of Computing, Engineering and Built Environment, Glasgow Caledonian University, Glasgow, UK.
Department of Electrical and Computer Engineering, University of Sistan and Baluchestan, Zahedan, Iran.
ISA Trans. 2022 Apr;123:98-109. doi: 10.1016/j.isatra.2021.05.027. Epub 2021 May 24.
This paper proposes an adaptive fractional-order nonsingular terminal sliding mode (AFNTSMC) control scheme combined with the independent joint control approach for trajectory tracking of three-axis gimbal platforms (GPs) mounted on a moving vehicle subjected to external disturbances. To achieve accurate images taken by the camera mounted on the GP, the motions and vibrations of the vehicle must be isolated from the camera. Thus, precise mathematical modeling of a three-axis GP with considering the external disturbances is studied, such that the GP tracks the target accurately and holds the line of sight stationary. Various tests with different vehicle conditions are performed to collect the movement data to be considered as the desired input for the GP. Thanks to the utilization of AFNTSMC, fast convergence together with simultaneous accurate trajectory tracking and strong robustness can be ensured. Corresponding comparative simulation results validate the effectiveness of the theoretical design results and superiorities of the proposed method over the existing methods.
本文提出了一种自适应分数阶非奇异终端滑模（AFNTSMC）控制方案，并结合独立关节控制方法，用于安装在受外部干扰的移动车辆上的三轴云台平台（GP）的轨迹跟踪。为了通过安装在云台上的相机获得精确图像，必须将车辆的运动和振动与相机隔离开来。因此，研究了考虑外部干扰的三轴云台精确数学建模，以使云台精确跟踪目标并保持视线稳定。进行了各种不同车辆条件的测试，以收集运动数据作为云台的期望输入。由于采用了AFNTSMC，可以确保快速收敛，同时实现精确的轨迹跟踪和强大的鲁棒性。相应的对比仿真结果验证了理论设计结果的有效性以及所提方法相对于现有方法的优越性。
