Decentralized sliding mode control in inertial navigation systems

The decentralized de-coupling sliding mode control strategy has been developed and applied for the design of the stabilization system of the three-axis inertial platform. The local nonlinear conventional and dynamic sliding manifolds have been designed to provide the desired linear decoupled output tracking (stabilization) in each axis of the inertial platform stabilization system. The system with the dynamic sliding mode controller obtained the joint features of the system with a conventional sliding mode controller (insensitivity to matched disturbances) and a conventional dynamic compensator (accommodation to unmatched disturbances).