Voltage-Base Control of Camera Stabilizer Using Optimal Adaptive Fuzzy Sliding Mode Control

The camera stabilizer stabilizes the camera’s line of sight by isolating the camera from the model uncertainties, disturbances of operating environment and system movements. This paper presents a voltage-base optimal adaptive fuzzy sliding mode control for camera stabilizer. In this proposed control method, a voltage-base sliding mode controller is applied. But unfortunately, undesirable control input chattering is caused by employing the sliding mode control. In the following, for the prevention of incidence of the control input chattering, a first order TSK fuzzy approximator is employed. Although fuzzy sliding mode control prevents the chattering phenomenon, it has some disadvantages such as disability in estimating the bounds of the existing uncertainties and lack of stability proof of the closed-loop system. In what follows, to overcome the aforementioned problems, an adaptive fuzzy system is designed such that it can estimate the bounds of the existing uncertainties. Ultimately, the chicken swarm optimization algorithm is utilized to determine the optimal values of coefficients of the adaptive fuzzy sliding mode control and to decrease the control input amplitude. To investigate the desirable performance of the optimal adaptive fuzzy sliding mode controller, simulations in four steps are implemented on a camera stabilizer.