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LI Zhi-bin, LI Liang, ZHANG Jian-qiang. Composite fast nonsingular terminal sliding mode control of fast steering mirror[J]. Chinese Optics. doi: 10.37188/CO.2023-0203
Citation: LI Zhi-bin, LI Liang, ZHANG Jian-qiang. Composite fast nonsingular terminal sliding mode control of fast steering mirror[J]. Chinese Optics. doi: 10.37188/CO.2023-0203

Composite fast nonsingular terminal sliding mode control of fast steering mirror

doi: 10.37188/CO.2023-0203
Funds:  Supported by National Natural Science Foundation of China (No. 52227811, No. 61733017); National Natural Science Foundation of Shandong Province (No. ZR2021QF117, No. ZR2021QF140)
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  • Corresponding author: zhangjg7170@163.com
  • Received Date: 11 Nov 2023
  • Accepted Date: 17 Jan 2024
  • Available Online: 31 Jan 2024
  • To further enhance the control performance of the precision tracking system for laser communication, this paper studies the control method of the fast steering mirror (FSM) driven by voice coil motor. Aiming at the problems of strong cross coupling characteristics and external disturbances in the FSM, a composite fast nonsingular terminal sliding mode control strategy integrating feedforward decoupling compensation and fixed-time extended state observer is proposed. Firstly, the coupling transfer function matrix model of the FSM with double inputs and double outputs is established by using system identification method, and the feedforward decoupling compensator is designed to compensate for the coupling components and achieve motion decoupling between the X-axis and Y-axis. Secondly, the fixed-time extended state observer is designed for each decoupled single-axis model, to achieve fixed-time estimation of angular velocity and external disturbances simultaneously. Then, the fast nonsingular terminal sliding mode surface is constructed, and the exponential power function is adopted to replace the sign function in control law design, so as to improve the convergence speed of the system and suppress the chattering of sliding mode, the stability of the proposed control system and the finite-time convergence of tracking error are proved based on Lyapunov stability analysis method. Finally, the effectiveness of the proposed composite control strategy is verified by comparative experiments. The experimental results show that under the 100 Hz strong disturbances, the FSM tracking 60 Hz and 120 Hz circular trajectories, the average absolute values of its trajectory tracking error are 0.0036° and 0.0131° respectively, indicating that the system can maintain good tracking performance. The proposed composite control strategy is validated to be effective in meeting the high-precision and strong anti-disturbance requirements of the FSM for laser communication.

     

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