Modeling and Integral Sliding Mode Control of a Roll-yaw Seeker by Removing the Singularity Condition

Document Type : Research Article

Authors

1 Department of Aerospace Engineering, Amirkabir University of Technology, Tehran, Iran

2 Associate Professor, Department of Aerospace Engineering, Sharif University of Technology, Tehran, Iran

3 Department of Aerospace Engineering, Amirkabir University of Technology, Tehran, IRAN.

Abstract

This paper aims to model and sliding mode control of a roll yaw seeker . roll yaw seeker is a tow axis gimbaled seeker . In the roll yaw seeker , a singularity occurs when the seeker is directed precisely to a target , and the seeker will lose the target . Thus, the controller design should include a tracking strategy to deal with singularity . In this paper , Newton Euler's method applies the dynamic model of a roll yaw seeker's roll and yaw gimbals . The dynamics of the roll yaw seeker are hardly nonlinear . Also , unmodified uncertainties and perturbations reduce the model's reliability . A two input , two output integral sliding mode controller is designed to control the nonlinear dynamics of the seeker and deal with uncertainties . The numerical simulation results show that all three stabilization, tracking , and guidance loops in both roll and yaw channels have acceptable performance . Also , it is shown that the controller has good robustness in uncertainty which is applied in every component of inertial momentum matrix. It shows the controller design and tracking strategy performed effectively in the roll yaw seeker and its singularity problem .

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AUT Journal of Modeling and Simulation
Volume 56, Issue 2
2024
Pages 235-256

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