Control Technology of Ground-Based Laser Communication Servo Turntable via a Novel Digital Sliding Mode Controller

摘要

In this study, a sliding mode control (SMC) algorithm was proposed based on a novel reaching law to solve the nonlinear disturbance problem of a ground-based laser communication turntable. This algorithm is a chatter-free method, in which the coefficient of sliding mode variable structure function is designed as an adaptive function, so the chattering of the sliding mode approaches zero. For any perturbed system, this algorithm can ensure a finite time for the system state to reach the sliding mode surface from any initial state. Additionally, the system will stabilize in the quasi-sliding mode domain (QSMD) with O(T3) width, where a narrower QSMD width corresponds to stronger robustness toward nonlinear disturbances. Both mathematical calculations and simulations verified the sliding mode and stability of this control algorithm. Experimental results of the velocity closed-loop of pitch axis show that the proposed algorithm effectively improved the anti-nonlinear disturbance ability of the control system compared with the effects of the traditional digital PID and the existing chatter-reduced SMC algorithms, for smooth system operation.