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Akhoundi Bardshahi M, Arvan M, Zarei M. Modeling, sliding mode controller design and processor-in-the-loop implementation for the stability loop of roll-pitch seeker. JoC 2025; 18 (4) :59-69
URL: http://joc.kntu.ac.ir/article-1-1028-en.html

In this article, the modeling, design of linear controller and sliding mode and implementation of the processor-in-the-loop for a roll-pitch seeker have been discussed. The dynamics of the roll-pitch seeker has a nonlinear behavior and severe interference, and also the existence of uncertainties and unmodeled disturbance has caused uncertainty in the model. In order to control the nonlinear dynamics of this seeker and deal with the uncertainties, two input-two outputs sliding mode controller are designed and the results are compared with linear controller. The results of numerical simulation in the presence of the sliding mode controller show that the stabilization loop of the seeker has an adequate function in two channels of pitch and roll. Also the performance of the designed controller in the presence of uncertainty in the rotational inertia parameter of the frames has been investigated and it is shown that this controller is robust to it. In order to test the correctness of the performance of the sliding mode control algorithm designed in the stabilization loop in tangible physical conditions, the processor-in-the-loop test has been performed. In this test, the system model was simulated in real-time on the computer, and the sliding mode control algorithm was implemented in the Raspberry Pi board equipped with an ARM Cortex-A53 processor, and the results were compared with the real-time test.