Robust Adaptive Sliding Mode Control for High-Precision Target Tracking in 2-Axis Gimbal Systems

This study introduces a modified adaptive sliding mode control (ASMC) approach inspired by Roy et al.'s method, aiming to eliminate steady-state tracking errors and enhance transient performance in 2-axis gimbal-based target tracking systems. The proposed controller integrates two key innovations: an adaptive integral sliding surface, which guarantees asymptotic convergence and eliminates residual errors, and a piecewise multi-power reaching law, which accelerates convergence while mitigating chattering effects. Unlike conventional approaches, this method does not require prior knowledge of bounded uncertainties, ensuring robust performance across varying operating conditions. The controller’s effectiveness is validated through extensive Monte Carlo simulations and comparative analysis against established nonlinear control methods. Results demonstrate a 35% reduction in root mean square error (RMSE) and a 28% improvement in convergence time relative to baseline methods. These findings confirm the practical applicability of the proposed ASMC in defense systems and high-precision target tracking scenarios.