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Synthesis of an Improved Fast Terminal Sliding Mode Controller for Opto-Electronic Observatory in Mobile Vehicle

Huy Quốc Vũ and Bình Ngọc Trần
Control, Automation in Production and Improvement of Technology Institute (CAPITI), 89B Ly Nam De, Hanoi, Vietnam

Abstract—The paper presents a method of synthesizing the Variable Structure Controller (VSC) based on the Fast Terminal Sliding Mode (FTSM) control for an optoelectronic observatory to eliminate the effects of the vibration and the change of vehicle’s direction. An improved fast terminal sliding surface and a fuzzy saturation function have been proposed to develop the improved fast terminal sliding mode variable structure controller (IFTSM-VSC). Based on the theory of Lyapunov stability, the article has proved that the IFTSM-VSC controller ensures the Line of Sight (LOS) stabilization of the observation devices and ensures the tracking errors converge to zero in finite time. The simulation uses data about the vibration and navigation of the vehicle recorded on some streets and roads. Simulation results in Matlab/Simulink show the effectiveness of the IFTSM-VSC controller.

Index Terms—Azimuth and elevation manipulator, fuzzy saturation function, LOS stabilization, IFTSM-VSC, mobile vehicle, optoelectronic observatory

Cite: Huy Quốc Vũ and Bình Ngọc Trần, "Synthesis of an Improved Fast Terminal Sliding Mode Controller for Opto-Electronic Observatory in Mobile Vehicle," International Journal of Electrical and Electronic Engineering & Telecommunications, Vol. 9, No. 6, pp. 434-440, November 2020. Doi: 10.18178/ijeetc.9.6.434-440

Copyright © 2020 by the authors. This is an open access article distributed under the Creative Commons Attribution License (CC BY-NC-ND 4.0), which permits use, distribution and reproduction in any medium, provided that the article is properly cited, the use is non-commercial and no modifications or adaptations are made.