A Finite-Time Robust Adaptive Sliding Mode Control for Electro-Optical Targeting System With Friction Compensation

Abstract

In this paper, a novel finite-time robust adaptive nonsingular fast terminal sliding mode control strategy is designed to achieve high performance control for an electro-optical targeting system which is subjected to nonlinear friction and disturbance torque. First, a robust adaptive control technique is constructed to compensate modified LuGre model and disturbance torque. Then, a nonsingular terminal fast sliding mode is integrated into the robust adaptive control technique to implement response rapidity and enhance the robustness of the closed-loop system. Furthermore, the control strategy is proved by Lyapunov criterion within finite time. Finally, simulation and experimental results indicate that high accuracy, fast response and stable control performance are obtained by the proposed control strategy for the electro-optical targeting system.