Identification of Gimbaled Gyroscopic Systems Using Higher Order Sliding Mode Observers

摘要

In industry it is often necessary to create a representative mathematical model of a piece of unknown or partially known hardware. Solutions to this problem exist for linear systems, but depend heavily on the availability of the system state vector and its derivative for calculation. This paper proposes the use of recent advances in sliding mode control and observation theory to overcome this data requirement. The higher order sliding mode (HOSM) control based identification algorithm that incorporates higher order sliding mode differentiators has been used for identification of a linearized 2-axis gimbaled gyroscope system. A full non-linear model of the system is created via system identification using the results of the identification. The identification process is performed for both exact and noisy measurements showing exceptional performance of the HOSM-based identification algorithm.