{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,12]],"date-time":"2025-10-12T03:19:47Z","timestamp":1760239187612,"version":"build-2065373602"},"reference-count":38,"publisher":"MDPI AG","issue":"20","license":[{"start":{"date-parts":[[2020,10,13]],"date-time":"2020-10-13T00:00:00Z","timestamp":1602547200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"National Science and Technology Major Project of China","award":["2016YFC0803000"],"award-info":[{"award-number":["2016YFC0803000"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>In order to improve the performance in the practical engineering applications including so called low-speed video tracking and large-angle swing scanning imaging at the same time for a three-axis universal inertially stabilized platform (UISP), we propose an adaptive nonsingular fast terminal sliding mode control (ANFTSMC) strategy subjected to the uncertain disturbances and input saturation constraints. First of all, a second-order dynamic model is established with uncertain disturbances and input saturation constraints. Secondly, a nonsingular fast terminal sliding mode controller (NTSMC) is constructed to ensure the system error converges to zero fast in a finite time; meanwhile, a novel reaching law based on a modified normal distribution function is designed to adjust the control gain. Thirdly, an adaptive control law is designed to online estimate the parameters of the lumped uncertain disturbances. Additionally, the stability of the control system is proved by Lyapunov theory. Finally, extensive comparative simulations and experiments are carried out, the results comprehensively show the effectiveness and superiority of the proposed control method, which can accelerate convergence, weaken the chattering, and has the better control accuracy and robust performance both in the low-speed tracking and large-angle swing scanning applications. Moreover, the exact dynamic model and the prior knowledge of the upper bounds of the disturbances are not required during the procedure of the controller design, which make it have more extensive application value in practical engineering.<\/jats:p>","DOI":"10.3390\/s20205785","type":"journal-article","created":{"date-parts":[[2020,10,14]],"date-time":"2020-10-14T21:24:39Z","timestamp":1602710679000},"page":"5785","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":3,"title":["High Performance Both in Low-Speed Tracking and Large-Angle Swing Scanning Based on Adaptive Nonsingular Fast Terminal Sliding Mode Control for a Three-Axis Universal Inertially Stabilized Platform"],"prefix":"10.3390","volume":"20","author":[{"given":"Yuanchao","family":"Wang","sequence":"first","affiliation":[{"name":"Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, China"},{"name":"Key Laboratory of Airborne Optical Imaging and Measurement, Chinese Academy of Sciences, Changchun 130033, China"},{"name":"University of Chinese Academy of Sciences, No. 19, Yuquan Rd., Beijing 100049, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yongming","family":"Yang","sequence":"additional","affiliation":[{"name":"Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, China"},{"name":"Key Laboratory of Airborne Optical Imaging and Measurement, Chinese Academy of Sciences, Changchun 130033, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Haipeng","family":"Kuang","sequence":"additional","affiliation":[{"name":"Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, China"},{"name":"Key Laboratory of Airborne Optical Imaging and Measurement, Chinese Academy of Sciences, Changchun 130033, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Dongming","family":"Yuan","sequence":"additional","affiliation":[{"name":"Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, China"},{"name":"Key Laboratory of Airborne Optical Imaging and Measurement, Chinese Academy of Sciences, Changchun 130033, China"},{"name":"University of Chinese Academy of Sciences, No. 19, Yuquan Rd., Beijing 100049, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Chunfeng","family":"Yu","sequence":"additional","affiliation":[{"name":"Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, China"},{"name":"Key Laboratory of Airborne Optical Imaging and Measurement, Chinese Academy of Sciences, Changchun 130033, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Juan","family":"Chen","sequence":"additional","affiliation":[{"name":"Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, China"},{"name":"School of Electrical and Electronic Engineering, Changchun University of Technology, Changchun 130012, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Nan","family":"Hua","sequence":"additional","affiliation":[{"name":"Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, China"},{"name":"Key Laboratory of Airborne Optical Imaging and Measurement, Chinese Academy of Sciences, Changchun 130033, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Han","family":"Hou","sequence":"additional","affiliation":[{"name":"Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, China"},{"name":"Key Laboratory of Airborne Optical Imaging and Measurement, Chinese Academy of Sciences, Changchun 130033, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2020,10,13]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Wang, Y., Tian, D., and Dai, M. (2018). Composite hierarchical anti-disturbance control with multisensor fusion for compact optoelectronic platforms. Sensors, 18.","DOI":"10.3390\/s18103190"},{"key":"ref_2","doi-asserted-by":"crossref","unstructured":"Zhou, Z., Zhang, B., and Mao, D. (2019). MIMO fuzzy sliding mode control for three-axis inertially stabilized platform. Sensors, 19.","DOI":"10.3390\/s19071658"},{"key":"ref_3","doi-asserted-by":"crossref","unstructured":"Che, X., Tian, D., and Jia, P. (2020). Terminal sliding mode control with a novel reaching law and sliding mode disturbance observer for inertial stabilization imaging sensor. Sensors, 20.","DOI":"10.3390\/s20113107"},{"key":"ref_4","first-page":"275","article-title":"Design of control system based on PID of three-axis inertially stabilized platform for airborne remote sensing","volume":"41","author":"Li","year":"2011","journal-title":"J. Jilin Univ. Eng. Technol. Ed."},{"key":"ref_5","unstructured":"Li, J., Wang, X., and Lin, W. (2012, January 3\u20135). Design of control system for a 2-DOF stabilized platform. Proceedings of the IEEE International Conference on Automatic Control and Artificial Intelligence, Xiamen, China."},{"key":"ref_6","first-page":"13","article-title":"Stabilizing a gimbal platform using self-tuning fuzzy PID controller","volume":"93","author":"Nourallah","year":"2014","journal-title":"Int. J. Comput. Appl."},{"key":"ref_7","unstructured":"Yura, L.R. (2018). ESO based adaptive sliding mode control of servo systems with input saturation. Adaptive Identification and Control of Uncertain Systems with Non-Smooth Dynamics, Academic Press."},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"293","DOI":"10.1016\/j.isatra.2017.01.003","article-title":"A compound scheme on parameters identification and adaptive compensation of nonlinear friction disturbance for the aerial inertially stabilized platform","volume":"67","author":"Zhou","year":"2017","journal-title":"ISA Trans."},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"106980","DOI":"10.1016\/j.oceaneng.2020.106980","article-title":"Finite-time adaptive tracking control of the marine vehicles with complex unknowns and input saturation","volume":"198","author":"Shen","year":"2020","journal-title":"Ocean Eng."},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"593","DOI":"10.1016\/j.ast.2018.05.021","article-title":"Adaptive robust backstepping attitude control for a muti-rotor unmanned aerial vehicle with time-varying output constraints","volume":"78","author":"Fu","year":"2018","journal-title":"Aerosp. Sci. Technol."},{"key":"ref_11","doi-asserted-by":"crossref","first-page":"2464","DOI":"10.1109\/9.362847","article-title":"A robust MIMO terminal sliding mode control scheme for rigid robotic manipulators","volume":"39","author":"Man","year":"1994","journal-title":"IEEE Trans. Automat. Control"},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"2159","DOI":"10.1016\/S0005-1098(02)00147-4","article-title":"Non-singular terminal sliding mode control of rigid manipulators","volume":"38","author":"Feng","year":"2002","journal-title":"Automatica"},{"key":"ref_13","doi-asserted-by":"crossref","unstructured":"Zhou, Z., Zhang, B., and Mao, D. (2018). Robust sliding mode control of PMSM based on rapid nonlinear tracking differentiator and disturbance observer. Sensors, 18.","DOI":"10.3390\/s18041031"},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"183","DOI":"10.1016\/j.conengprac.2018.09.011","article-title":"Sliding mode control of position commanded robot manipulators","volume":"81","author":"Adhikary","year":"2018","journal-title":"Control Eng. Pract."},{"key":"ref_15","doi-asserted-by":"crossref","first-page":"108650","DOI":"10.1016\/j.automatica.2019.108650","article-title":"On adaptive sliding mode control without a priori bounded uncertainty","volume":"111","author":"Roy","year":"2020","journal-title":"Automatica"},{"key":"ref_16","doi-asserted-by":"crossref","unstructured":"Tran, D., Truong, H., and Ahn, K. (2019). Adaptive backstepping sliding mode control based RBFNN for a hydraulic manipulator including actuator dynamics. Appl. Sci., 9.","DOI":"10.3390\/app9061265"},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"254","DOI":"10.1016\/j.isatra.2019.05.003","article-title":"Robust integral of neural network and precision motion control of electrical-optical gyro-stabilized platform with unknown input dead-zones","volume":"95","author":"Wu","year":"2019","journal-title":"ISA Trans."},{"key":"ref_18","doi-asserted-by":"crossref","first-page":"34","DOI":"10.1016\/j.fss.2011.05.009","article-title":"Adaptive fuzzy terminal sliding mode control for a class of MIMO uncertain nonlinear systems","volume":"179","author":"Nekoukar","year":"2011","journal-title":"Fuzzy Sets Syst."},{"key":"ref_19","doi-asserted-by":"crossref","unstructured":"Jiao, R., Chou, W., and Rong, Y. (2020). Anti-disturbance control for quadrotor UAV manipulator attitude system based on fuzzy adaptive saturation super-twisting sliding mode observer. Appl. Sci., 10.","DOI":"10.3390\/app10113719"},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"318","DOI":"10.1016\/j.isatra.2018.08.001","article-title":"A GA-based parameters tuning method for an ADRC control of ISP for aerial remote sensing applications","volume":"81","author":"Zhou","year":"2018","journal-title":"ISA Trans."},{"key":"ref_21","doi-asserted-by":"crossref","first-page":"41","DOI":"10.1016\/j.isatra.2019.01.017","article-title":"Adaptive sliding mode disturbance rejection control with prescribed performance for robotic manipulators","volume":"91","author":"Jing","year":"2019","journal-title":"ISA Trans."},{"key":"ref_22","unstructured":"Li, S., Yang, J., Chen, W., and Chen, X. (2014). Disturbance Observer-Based Control: Methods and Applications, CRC Press, Taylor & Francis Group."},{"key":"ref_23","doi-asserted-by":"crossref","unstructured":"Fan, W., Lu, H., and Zhang, X. (2018). Two-degree-of-freedom dynamic model-based terminal sliding mode control with observer for dual-driving feed stage. Symmetry, 10.","DOI":"10.3390\/sym10100488"},{"key":"ref_24","doi-asserted-by":"crossref","first-page":"10465","DOI":"10.1109\/TVT.2019.2926316","article-title":"Improved continuous fast terminal sliding mode control with extended state observer for speed regulation of PMSM drive system","volume":"68","author":"Xu","year":"2019","journal-title":"IEEE Trans. Veh. Technol."},{"key":"ref_25","doi-asserted-by":"crossref","first-page":"9480","DOI":"10.1109\/TIE.2019.2892678","article-title":"Extended state observer-based sliding mode control of an omnidirectional mobile robot with friction compensation","volume":"66","author":"Ren","year":"2019","journal-title":"IEEE Trans. Ind. Electron."},{"key":"ref_26","first-page":"1","article-title":"Adaptive nonsingular fast terminal sliding-mode control for the tracking problem of uncertain dynamical systems","volume":"77","author":"Boukattaya","year":"2018","journal-title":"TSA Trans."},{"key":"ref_27","doi-asserted-by":"crossref","first-page":"261","DOI":"10.1016\/j.isatra.2019.08.010","article-title":"Improvement of sliding mode controller by using a new adaptive reaching law: Theory and experiment","volume":"97","author":"Brahmi","year":"2020","journal-title":"ISA Trans."},{"key":"ref_28","doi-asserted-by":"crossref","first-page":"4117","DOI":"10.1109\/TPEL.2019.2933613","article-title":"A new reaching law for anti-disturbance sliding-mode control of PMSM speed regulation system","volume":"35","author":"Wang","year":"2020","journal-title":"IEEE Trans. Power Electron."},{"key":"ref_29","doi-asserted-by":"crossref","first-page":"41","DOI":"10.1016\/j.isatra.2018.12.046","article-title":"Adaptive second-order fast nonsingular terminal sliding mode control for robotic manipulators","volume":"90","author":"Yi","year":"2019","journal-title":"ISA Trans."},{"key":"ref_30","first-page":"1","article-title":"Adaptive integral backstepping sliding mode control for opto-electronic tracking system based on modified LuGre friction model","volume":"10","author":"Yue","year":"2017","journal-title":"Int. J. Syst. Sci."},{"key":"ref_31","doi-asserted-by":"crossref","unstructured":"Vo, A.T., and Kang, H.J. (2018). An adaptive neural non-singular fast-terminal sliding mode control for industrial robotic manipulators. Appl. Sci., 8.","DOI":"10.3390\/app8122562"},{"key":"ref_32","doi-asserted-by":"crossref","unstructured":"Xia, X., Zhang, B., and Li, X. (2020). High precision low-speed control for permanent magnet synchronous motor. Sensors, 20.","DOI":"10.3390\/s20051526"},{"key":"ref_33","doi-asserted-by":"crossref","unstructured":"Baek, J., and Kwon, W. (2020). Practical adaptive sliding-mode control approach for precise tracking of robot manipulators. Appl. Sci., 10.","DOI":"10.3390\/app10082909"},{"key":"ref_34","doi-asserted-by":"crossref","first-page":"108515","DOI":"10.1016\/j.automatica.2019.108515","article-title":"Continuous nonsingular terminal sliding mode control based on adaptive sliding mode disturbance observer for uncertain nonlinear systems","volume":"109","author":"Rabiee","year":"2019","journal-title":"Automatica"},{"key":"ref_35","doi-asserted-by":"crossref","unstructured":"Qiu, B., Wang, G., and Fan, Y. (2019). Adaptive sliding mode trajectory tracking control for unmanned surface vehicle with modeling uncertainties and input saturation. Appl. Sci., 9.","DOI":"10.3390\/app9061240"},{"key":"ref_36","doi-asserted-by":"crossref","unstructured":"Doan, Q.V., Vo, A.T., and Le, T.D. (2020). A novel fast terminal sliding mode tracking control methodology for robot manipulators. Appl. Sci., 10.","DOI":"10.3390\/app10093010"},{"key":"ref_37","doi-asserted-by":"crossref","unstructured":"Huynh, V., Ngo, H., and Nguyen, T. (2020). High performance of an adaptive sliding mode controller under varying loads for lifting-type autonomous grounded robot. Appl. Sci., 10.","DOI":"10.3390\/app10175858"},{"key":"ref_38","doi-asserted-by":"crossref","first-page":"155","DOI":"10.1016\/j.isatra.2019.07.003","article-title":"A global time-varying sliding-mode control for the tracking problem of uncertain dynamical systems","volume":"97","author":"Boukattaya","year":"2020","journal-title":"ISA Trans."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/20\/20\/5785\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T10:20:17Z","timestamp":1760178017000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/20\/20\/5785"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,10,13]]},"references-count":38,"journal-issue":{"issue":"20","published-online":{"date-parts":[[2020,10]]}},"alternative-id":["s20205785"],"URL":"https:\/\/doi.org\/10.3390\/s20205785","relation":{},"ISSN":["1424-8220"],"issn-type":[{"type":"electronic","value":"1424-8220"}],"subject":[],"published":{"date-parts":[[2020,10,13]]}}}