Modeling and controller design by sliding-mode control for refueling boom

Modeling of refueling boom is based on boom refueling experiment platform. Firstly, the dynamic model of refueling boom is established by studying the air refueling system, but it is difficult to investigate the stability of the system with the characteristics of multi-input and multi-output (MIMO), strong coupling and nonlinear. Secondly, the nonlinear kinetic equation is linearized based on the small perturbation theory and then decoupled by the state feedback. As we know, the sliding mode control algorithm has the advantages of strong robustness and dynamic performance, so an exponential reaching sliding-mode control law is proposed based on the variable structure control theory and Lyapunov stability theory in this paper. Finally, a simulation work in Matlab/Simulink toolbox is carried out to validate the control law, and the results show that the designed control law achieves good control performance and can satisfy the control requirement.