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Cascaded proxy-based sliding mode control enhanced with disturbance observer for the stabilization and control of a gun-turret platform/

Çandır, Ercan
Stabilization and tracking is two of the most important properties of today’s modern gun turret platforms mounted on the mobile land vehicles. Servo control of such gunturret platforms is a very challenging issue due to the non-linearities of the system, the external disturbances resulting from the motion of the vehicle and varying operation conditions. In this thesis, a cascaded proxy-based controller with additional disturbance observer is developed as a solution to this control problem and to obtain high stabilization and tracking performance. A novel cascaded-proxy based sliding mode control architecture is used as the main controller. A reduced-order disturbance observer is also integrated to the controller to compensate the non-linearities in the system and to improve the disturbance rejection capability. Performance of this disturbance observer is enhanced by reducing noise in the feedback signal with an additional Kalman filter which fuses the measurements obtained from different sensor. The proposed controller is tested with both simulations and experiments conducted on the real gun-turret platform. Sensitivity and performance analysis are performed by using the mathematical model constructed for simulating the behaviours of the actual system and the hardware experimental setup.