Finite-time Robust Control for Inertially Stabilized Platform Based on Terminal Sliding Mode

In this paper, a finite-time robust controller is designed based on the terminal sliding mode for a two-axis gimbal ISP system. It is shown that the controller designed in this paper can not only ensure the system output tracking error converge to zero in a finite time, but also provide a strong disturbance rejection performance. In addition, the gain of the finite-time robust controller can be significantly reduced with respect to the ones of linear sliding mode control schemes as well as PID control methods. Simulation results will also be provided to demonstrate the effectiveness of the designed controller.