南京理工大学学报（自然科学版）2025，Vol.49Issue(5)：523-535,566,14.DOI:10.14177/j.cnki.32-1397n.2025.49.05.002
基于高阶超螺旋观测器的光电稳定跟踪系统自适应积分终端滑模控制
Adaptive integral terminal sliding mode control of electro-optical stabilized tracking systems based on high-order super-twisting observer
摘要
Abstract
Aiming at the high-precision control problem of electro-optical stabilized tracking systems under nonlinear friction,abrupt disturbances,external vibrations and uncertainties,an adaptive integral terminal sliding mode control method based on high-order super-twisting observer(HOSTO)is proposed.A super-twisting integral terminal sliding mode controller(STITSMC)is designed to ensure the rapid convergence of tracking errors.To counteract the adverse effects of time-varying disturbances and uncertainties on the system,a HOSTO is constructed to thoroughly estimate and compensate for the total disturbance.Furthermore,a variable gain mechanism is introduced in the switching control law,which reduces the conservativeness of gain selection while alleviating the chattering phenomenon.The finite-time stability of the system is rigorously demonstrated via Lyapunov stability theory.Simulation results show that compared with the extended state observer-based super-twisting algorithm and STITSMC method,in constant velocity trajectory tracking,the maximum absolute angular velocity errors of the proposed adaptive integral terminal sliding mode controller(AITSMC)based on HOSTO under abrupt disturbances is reduced by 15.2%and 3.4%,respectively.In sinusoidal trajectory tracking,the angular velocity average absolute errors is reduced by 31.9%and 71.9%,respectively.In external vibration isolation at a frequency of 8π rad/s,the angular position root mean square errors is reduced by 95.4%and 94.4%,respectively.These results demonstrate that the proposed control method effectively suppresses the multiple disturbances and uncertainties while achieving higher control accuracy.关键词
光电稳定跟踪系统/高阶超螺旋观测器/超螺旋算法/滑模控制/扰动抑制Key words
electro-optical stabilized tracking systems/high-order super-twisting observer/super-twisting algorithm/sliding mode control/disturbance rejection分类
计算机与自动化引用本文复制引用
冯宾,高阳,樊卫华,陈庆伟..基于高阶超螺旋观测器的光电稳定跟踪系统自适应积分终端滑模控制[J].南京理工大学学报（自然科学版）,2025,49(5):523-535,566,14.基金项目
国家自然科学基金(62203222) （62203222）
江苏省研究生科研与实践创新计划(KYCX24_0676) （KYCX24_0676）
