Synthesis of a hybrid super-twisting and adaptive fractional-order sliding-mode control law for the gimbal seeker ensuring disturbance rejection and high accuracy
38 viewsDOI:
https://doi.org/10.54939/1859-1043.j.mst.113.2026.58-65Keywords:
Two-axis gimbal; Fractional-order sliding-mode control; Super-Twisting algorithm; IIR seeker; Chattering.Abstract
This paper investigates the synthesis of an Adaptive Fractional-Order Super-Twisting Sliding Mode Control (AFOSTSMC) law to improve line-of-sight (LOS) stabilization performance for the two-axis gimbal drive system of an electro-optical seeker. The gimbal system has strongly nonlinear dynamics and is affected by angle-dependent varying moments of inertia, cross-coupling between the Yaw and Pitch channels, and uncertain disturbances. The proposed controller combines three techniques: (1) the Caputo fractional-order derivative, which accelerates convergence and smooths the error response; (2) the Super-Twisting Algorithm (STA), which suppresses chattering; and (3) an adaptive mechanism, which automatically tunes the controller gains online to compensate for disturbance components with unknown bounds. System stability is proven using Lyapunov theory and the Mittag-Leffler convergence criterion. Simulation results on a compact drive-system model demonstrate the advantages of the hybrid AFOSTSMC law over Super-Twisting Sliding Mode Control (STSMC) and Adaptive Fractional-Order Sliding Mode Control (AFOSMC) methods.
References
[1]. Hilkert, J., “Inertially stabilized platform technology concepts and principles”, IEEE Control Systems Magazine, 28, 1, 26-46, (2008). DOI: https://doi.org/10.1109/MCS.2007.910256
[2]. Altan, A. and R. Hacioğlu, “Modeling of three-axis gimbal system on unmanned air vehicle (UAV) under external disturbances”, 2017 25th Signal Processing and Communications Applications Conference (SIU), (2017). DOI: https://doi.org/10.1109/SIU.2017.7960196
[3]. Ekstrand, B., “Equations of motion for a two-axes gimbal system”, IEEE Transactions on Aerospace and Electronic Systems, 37, 3, 1083-1091, (2001). DOI: https://doi.org/10.1109/7.953259
[4]. Bai, Y., et al., “Design and analysis of Roll-Swing imaging seeker scan scheme”, 2010 The 2nd International Conference on Industrial Mechatronics and Automation, (2010).
[5]. Jiang, H., H. Jia, and Q. Wei, “Analysis of zenith pass problem and tracking strategy design for roll–pitch seeker”, Aerospace Science and Technology, 23, 1, 345-351, (2012). DOI: https://doi.org/10.1016/j.ast.2011.08.011
[6]. Abdo, M.M., et al., “Stabilization loop of a two axes gimbal system using self-tuning PID type fuzzy controller”, ISA transactions, 53, 2, 591-602, (2014). DOI: https://doi.org/10.1016/j.isatra.2013.12.008
[7]. Seong, K.-J., et al., “The stabilization loop design for a two-axis gimbal system using LQG/LTR controller”, 2006 SICE-ICASE International Joint Conference, (2006). DOI: https://doi.org/10.1109/SICE.2006.315268
[8]. Utkin, V., J. Guldner, and J. Shi, “Sliding mode control in electro-mechanical systems”, CRC press, (2017). DOI: https://doi.org/10.1201/9781420065619
[9]. Phuong, N.V., et al., “Designing a Robust Control System Based on Sliding Mode Control for Two-axis Gimbal Systems”, 2024 Conference of Young Researchers in Electrical and Electronic Engineering (ElCon), (2024). DOI: https://doi.org/10.1109/ElCon61730.2024.10468229
[10]. Utkin, V., et al., “Conventional and high order sliding mode control”, Journal of the Franklin Institute, 357, 15, 10244-10261, (2020). DOI: https://doi.org/10.1016/j.jfranklin.2020.06.018
[11]. Rivera, J., et al., “Super-twisting sliding mode in motion control systems”, Sliding mode control, 1, 237-254, (2011). DOI: https://doi.org/10.5772/14532
[12]. Gonzalez, T., J.A. Moreno, and L. Fridman, “Variable gain super-twisting sliding mode control”, IEEE Transactions on Automatic Control, 57, 8, 2100-2105, (2011). DOI: https://doi.org/10.1109/TAC.2011.2179878
[13]. Thinh Huynh, Young-Bok Kim, “A study on gimbal motion control system design based on super-twisting control method”, Journal of the Korean Society for Precision Engineering, 38, 2, 115-122, (2021). DOI: https://doi.org/10.7736/JKSPE.020.077
[14]. Naderolasli, A. and M. Tabatabaei, “Stabilization of the two-axis gimbal system based on an adaptive fractional-order sliding-mode controller”, IETE Journal of Research, 63, 1, 124-133, (2017). DOI: https://doi.org/10.1080/03772063.2016.1229581
[15]. Olsson, H., et al., “Friction models and friction compensation”, Eur. J. Control, 4, 3, 176-195, (1998). DOI: https://doi.org/10.1016/S0947-3580(98)70113-X
[16]. Hoang Anh Tan, et al., “Improvement of ride quality for a wheel loader with semi-active cab isolation system via fuzzy self-tuning of PID controller”, Journal of Military Science and Technology, FEE, 197-203, (2023). DOI: https://doi.org/10.54939/1859-1043.j.mst.FEE.2023.197-203
