A low speed servo system of CMG gimbal based on adaptive sliding mode control and iterative learning compensation

In this paper, an adaptive sliding mode controller combined with iterative learning compensation strategy is proposed for the low speed servo system of control moment gyro (CMG) gimbal. The iterative learning compensation strategy is utilized to meet the requirement of speed stability, meanwhile, the adaptive sliding mode technique is used to guarantee fast response and strong robustness. This proposed method has been verified on an DSP based experimental platform, and the experimental results show that the proposed controller performs is better than conventional PID controller in speed stability, response speed and robustness.