Stabilization of the Two-Axis Gimbal System Based on an Adaptive Fractional-Order Sliding-Mode Controller

摘要

This paper introduces an adaptive fractional-order sliding-mode controller for stabilization of a two-axis gimbal platform in the presence of the torque disturbance effects. To tend the angular velocities of the inner gimbal in the elevation and azimuth axes to zero, an adaptive fractional-order sliding-mode approach is utilized. To achieve this goal, fractional-order sliding surfaces in both azimuth and elevation axes and the corresponding adaptive controllers with adjustable parameters tuned according to Lyapunov-based adaptation mechanisms are employed. The optimal value of the fractional order is obtained through an integral square error performance index minimization. The moments products uncertainties are incorporated in the design procedure. The numerical simulations demonstrate that the proposed control approach is robust against the moments products variations.