High-dynamic nonsingular terminal sliding mode control method for ship-borne stabilized platform

The invention relates to the technical field of control of a photoelectric precision measurement stabilized platform, in particular to a high-dynamic nonsingular terminal sliding mode control method for a ship-borne stabilized platform, and the method comprises the steps: S1, building a disturbed kinetic model of the ship-borne stabilized platform; s2, designing a dynamic error surface of the ship-borne stabilized platform according to the lumped disturbance; s3, designing an adaptive disturbance observer according to the dynamic error surface of the ship-borne stabilized platform; s4, establishing a nominal model of the ship-borne stabilized platform, and obtaining a compensation item of the adaptive disturbance observer in combination with the nominal model; s5, designing a layered interference compensator according to the adaptive interference observer and the compensation item; and S6, according to the layered interference compensator, designing a high-dynamic nonsingular terminal sliding mode controller,