Microsystem Technologies

, Volume 18, Issue 9–10, pp 1651–1660 | Cite as

Design and experimental validation of a sliding-mode stabilizer for a ship-carried satellite antenna

  • Paul C.-P. ChaoEmail author
  • Chun-Wei Chiu
Technical Paper


This study designs a sliding-mode controller to stabilize the angular orientation of a ship-carried satellite antenna. The design process starts with calculating the pointing angle of the considered satellite antenna arm as opposed to given ship vibrations due to certain sea waves. This calculation is carried out by the method of Denavit–Hartenberg (D–H) transformation, which is followed by establishing a dynamic model of the satellite antenna system and platform using conventional kinematics modeling techniques. The resulted kinematics relationships are next used as the basis for designing a sliding-mode controller to maintain the antenna in a specified orientation as the ship pitches and rolls under the combined effects of wind and the sea’s waves. The effectiveness of the designed controller is investigated both numerically and experimentally. Both sets of results confirm the feasibility of the proposed control scheme. It is shown that the antenna converges to the required azimuth and elevation angles within 2 s and maintains the specified orientation as the ship continues to pitch and roll.


Elevation Angle Roll Motion Hydraulic Cylinder Pitch Motion Satellite Antenna 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

List of symbols


Amplitude of oscillation


Cylinder diameter

\( {\mathbf{B}} \)

Vector of the Coriolis and centrifugal forces


Pressure coefficient


Force coefficient in x direction


Force coefficient in y direction



\( {\mathbf{d}} \)

Vector of the disturbance


Time step

\( {\mathbf{e}} \)

Tracking error


X component of resultant pressure force acting on vehicle


Y component of resultant pressure force acting on vehicle

f, g

Generic functions

\( {\mathbf{G}} \)

Vector of the gravitational force




Time index during navigation


Waypoint index


Trailing-edge (TE) non-dimensional angular deflection rate

\( {\mathbf{L}} \)

Lagrange function

\( {\mathbf{M}} \)

Inertia matrix


A vector containing the joint angles


Sliding surface function


DenavitHartenberg (D–H) transformation

\( {\mathbf{u}} \)

The unit directional vector


Lyapunov function

\( \theta_{2} \), \( \theta_{3} \)

Roll and pitch angles of the hydraulic platform, respectively

\( \theta_{4} \), \( \theta_{5} \)

Angles of arm-1 and arm-2, respectively

\( {\varvec{\tau}} \)

Vector of the torque input



The authors are greatly indebted to the National Science council of R.O.C. for the support of the research through contracts in Nos. NSC96-2220-E-009-029 and 96-2622-E-009-010-CC3. This work was also supported in part by the UST-UCSD International Center of Excellence in Advanced Bio-Engineering sponsored by the Taiwan National Science Council I-RiCE Program under Grant NSC-100- 2911-I-009-101.


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Copyright information

© Springer-Verlag 2012

Authors and Affiliations

  1. 1.Department of Electrical EngineeringNational Chiao Tung UniversityHsinchuTaiwan
  2. 2.Department of Mechanical EngineeringChung Yuan Christian UniversityChungliTaiwan

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