Robust Control of Two-Axis Pan-Tilt System
In this paper, a robust control method is proposed for a two-axis pan-tilt system. A sliding mode based nonlinear
controller is introduced for joint position tracking control of the pan-tilt system. Finite-time stability of the closed loop system
is proved by using constructive Lyapunov stability analysis. Experimental result shows the effectiveness of the proposed
chattering-free SMC method.
Keywords- Pan-Tilt System, Robust Control, Sliding Mode Control(SMC), Lyapunov Stability