A variable structure-augmented adaptive controller for a gyro-mirror line-of-sight stabilization platform

Abstract

In this paper, we develop a variable structure-augmented adaptive controller applicable to a class of multivariable nonlinear servomechanisms commonly encountered in many industrial applications. For this proposed controller, it is shown in the paper that the proper integration of the adaptive and variable structure methods results in a controller where uniformly stable operation is achieved together with asymptotic tracking of the reference command signals. The proposed controller also assures robust operation in the presence of practical imperfections. In the paper, real-time experimental results in applying the proposed controller to a gyro-mirror line-of-sight stabilization platform are presented to demonstrate its effectiveness. These experiments also serve to verify the analytical results in a prototype real-time application. © 1998 Elsevier Science Ltd.