Interval Type-2 Fuzzy Sliding-Mode Control of Three-Axis Stabilization Gimbal

Aiming at the attitude control problem of three-axis stabilization gimbal, an algorithm combining interval type-2 fuzzy control and sliding-mode control was designed. Firstly, the mathematical model of the three-axis stabilization gimbal actuator was established after analyzing the mechanical structure of the three-axis stabilization gimbal. Then, a sliding-mode controller was designed based on the position ring of the actuator of three-axis stabilization gimbal. An interval type-2 control was used to reduce chattering in sliding-mode control. The switching function and its derivative are taken as the input of fuzzy control, and the rate of change of the approach law is taken as the output of fuzzy control. Fuzzy control can adjust the gain of sliding-mode surface dynamically, enhance the adaptability on external random disturbance, improve the speed of convergence and weaken chattering. The simulation results show that the output of the controller designed in this paper is more stable, and the tracking of the three-axis stabilization gimbal is more rapid and accurate.