Adaptive Nonlinear Control for the Stabilized Platform With Disturbance and Input Saturation

This article proposes a control strategy including super-twisting extended state observer (STESO) and sliding mode controller based on backstepping technique for the stabilized platform with disturbance and input saturation. Firstly, the system is modelled to obtain a non-matched nonlinear model. Secondly, two STESOs are designed to estimate the disturbances in the matched channel and the unmatched channel. And then, multi-sliding mode controller based on backstepping technique is designed for non-matched nonlinear system; and the first-order auxiliary system is introduced to alleviate the effect of the input saturation. Furthermore, Lyapunov function is used to prove the stability of the closed system with the proposed controller and finite-time convergence proof is given in this article. Finally, comparative simulations are carried out and the results show the effectiveness of the proposed controller. It is proved that the control accuracy is improved effectively and the proposed controller can guarantee the consistent tracking error of the system.