Discrete-time sliding-mode control in panoramic aerial camera
全景式航空相机的离散滑模控制

A discrete-time sliding-mode control method based on reduced-order state observer is proposed to provide fast response and small overshoot for the drawtube control system of a panoramic aerial camera. In this method, the angular velocity and acceleration of the camera are measured for controlling the velocity system, and a power-function reaching law is proposed to substitute the conventional reaching law for suppressing the control chattering and the steadystate chattering caused by the conventional reaching law. The non-chattering characteristics and the system stability are analyzed theoretically. This controller has been applied to control the drawtube system of a panoramic aerial camera on an experimental platform; the experiment results show that this control scheme can effectively eliminate the chattering and make the drawtube system achieve desired dynamical performances.