Robust Velocity Control of a Fixed Canard Decoupled Dual-Spin Projectile

This paper addresses the challenge of velocity control in fixed canard decoupled dual-spin projectiles, focusing on the nonlinearities and parameter uncertainties of the system. A motor-generator test bench and a dynamical model are developed to emulate the dual-spin system accurately, enabling thorough experimentation and analysis. Robust control strategies, specifically sliding mode control and super-twisting control, are implemented and compared against traditional linear PI, PID, and nonlinear dynamic inversion controllers. Performance evaluations are conducted through two experiments: first, tracking a step reference speed with a fixed driving speed, and second, replicating real-world dual-spin behavior by tracking a variable speed trajectory with varying driving speeds. Results demonstrate that the super-twisting controller and PID controller outperform other strategies, exhibiting minimal reaching time and lower steady-state error during both step reference and disturbance tests.