Proxy-Based Sliding Mode Stabilization of a Two-Axis Gimbaled Platform

Hasturk O., ERKMEN A. M., ERKMEN İ.

World Congress on Engineering and Computer Science (WCECS 2011), San-Francisco, Kostarika, 19 - 21 Ekim 2011, ss.370-376 identifier

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Basıldığı Şehir: San-Francisco
  • Basıldığı Ülke: Kostarika
  • Sayfa Sayıları: ss.370-376
  • Anahtar Kelimeler: Line-of-sight stabilization, Unscented Kalman Filter, PID control, proxy-based sliding mode control
  • Orta Doğu Teknik Üniversitesi Adresli: Evet

Özet

Nowadays, high portion of tactical missiles use gimbaled seekers. For accurate target tracking, the platform where the gimbal is mounted must be stabilized with respect to the motion of the missile body. Line of sight stabilization is critical for fast and precise tracking and alignment. Although conventional PID framework solves many stabilization problems, it is reported that many PID feedback loops are poorly tuned. In this paper, a recently introduced approach, proxy-based sliding mode control to a line-of-sight stabilization of two-axis gimbal system, is implemented. The tracking performance and disturbance rejection capability of the proxy based sliding mode control is compared with that of conventional PID control. Simulation and experimental results both indicate clear superiority of the proxy-based sliding control performance.