The application of the discrete sliding mode control based on state observer in aerial camera

A discrete sliding mode control scheme based on state observer is designed for DC torque motor. Aim on the problem of control chattering and steady-state chattering caused by discrete sliding mode control method, adaptive reaching law is proposed Non-chattering and stability are made an analysis. The aerial camera is chosen as an experimental platform and the discrete sliding mode controller with adaptive reaching law is applied to the drawtube system, the value of acceleration can be observed on line. The experiment results show the control scheme can effectively eliminate chattering and also make the drawtube system achieve better dynamical performance.