Title: Adaptive backstepping sliding mode control for theodolite rotating systems

Authors: Zhenxin He; Xianxiang Huang; Chuntong Liu; Quanmin Zhu; Ying Zhan; Gangfeng Deng

Addresses: Xi'an Research Institute of High Technology, Xi'an City, Shaan Xi Province, 710025, China ' Xi'an Research Institute of High Technology, Xi'an City, Shaan Xi Province, 710025, China ' Xi'an Research Institute of High Technology, Xi'an City, Shaan Xi Province, 710025, China ' Department of Engineering Design and Mathematics, University of the West of England, Frenchy Campus Coldharbour Lane, Bristol, BS16 1QY, UK ' Xi'an Research Institute of High Technology, Xi'an City, Shaan Xi Province, 710025, China ' Xi'an Research Institute of High Technology, Xi'an City, Shaan Xi Province, 710025, China

Abstract: This study investigates the control of theodolite rotating system, and proposes an adaptive backstepping sliding mode control framework to overcome the non-linearities and uncertainties of the system. In terms of practical operation, a non-linear model is established by describing the relationship between the state variables of theodolite rotating system and the control voltage. For designing the controller, sliding mode control and adaptive control are introduced to effectively deal with non-linearity and uncertainty effect. Simulation results show that the adaptive sliding mode controller has reasonable robustness and tracking performance against PID control, and the dynamics and stability of theodolite rotating surveying system have been improved.

Keywords: sliding mode control; SMC; adaptive control; backstepping method; theodolite rotating systems; nonlinear modelling; uncertainties; state variables; control voltage; controller design; tracking performance; dynamics; stability.

DOI: 10.1504/IJMIC.2014.065343

International Journal of Modelling, Identification and Control, 2014 Vol.22 No.3, pp.249 - 260

Published online: 30 Oct 2014 *

Full-text access for editors Full-text access for subscribers Purchase this article Comment on this article