Integral Sliding Mode Control for Vehicle-Mounted Gyro-Stabilized Platform Based on Extended State Observer

Abstract

For the problems of system performance degradation caused by nonlinearity such as friction and parameter varieties to a system, an integral sliding mode controller for vehicle-mounted gyro-stabilized platform based on extended state observer (ESO) was proposed. An error integral compensation term was introduced in the sliding surface base on the state variables in order to reduce the steady-state error and break through the restrictions that the derivative of the tracking signal must be known. The ESO was introduced to estimate and compensate the inner and outer disturbances of the system. This helps to reduce the required value of switching gain for the sliding mode control method,which can reduce the chattering phenomenon of system. The simulation and experiment result shows that the method can restrain the influences caused by the diversified nonlinearity, and can improve the system performance effectively.