Based on disturbance observer, this paper develops a nonsingular terminal sliding mode control method for uncertain chaotic gyroscope system. Firstly, fuzzy logic system (FLS) is used to estimate the unknown function; then disturbance observer (DOB) is constructed to estimate the mixed disturbance, which consists of the fuzzy estimation error, external disturbance, and dead-zone input error. Subsequently, by using a nonsingular terminal sliding mode function, the control method proposed in this paper can achieve the sliding mode variable approaching a small neighborhood of zero and reduce chattering phenomenon of the tracking error and controller. Finally, comparative simulation results confirm the effectiveness of the method proposed in this paper.

中文翻译：

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基于干扰观测器的不确定混沌陀螺系统非奇异终端滑模控制

基于扰动观测器，提出了一种不确定混沌陀螺系统的非奇异终端滑模控制方法。首先，利用模糊逻辑系统（FLS）来估计未知函数。然后构造干扰观测器（DOB）来估计混合干扰，该混合干扰包括模糊估计误差，外部干扰和死区输入误差。随后，通过使用非奇异终端滑模函数，本文提出的控制方法可以实现接近零的小邻域的滑模变量，并减少跟踪误差和控制器的抖动现象。最后，比较仿真结果证实了本文提出方法的有效性。