The full text of this article
Dynamic surface adaptive integral-terminal sliding mode control for theodolite rotating systems
by Zhenxin He; Chuntong Liu; Zhili Zhang; Xianxiang Huang
International Journal of Modelling, Identification and Control (IJMIC), Vol. 23, No. 3, 2015
Abstract: To improve the robustness and precision of theodolite rotation servo system, this study proposes a dynamic surface adaptive integral terminal sliding mode control (DSAITSMC). A nonlinear uncertain mathematic model of theodolite rotating system is established firstly. Integral terminal sliding mode surface function is then designed, which provides system convergence with finite time and avoids the steady state error from external disturbances. Further reason for using such design prototype is that the dynamic surface control can simplify the controller designing procedure. The adaptive algorithm is applied to estimate the uncertainty parameters and reduce sliding mode chattering. The control law and adaptive law are presented on the basis of Lyapunov theory, and the stability of the system is proved. The simulation results show, compared to PID controller and conventional sliding mode controller, this control method has better robustness, more accurate position and enhanced velocity tracking capacity.
Online publication date: Tue, 16-Jun-2015
is only available to individual subscribers or to users at subscribing institutions.
Go to Inderscience Online Journals to access the Full Text of this article.
Pay per view:
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.
Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Modelling, Identification and Control (IJMIC):
Login with your Inderscience username and password:
Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable).
See our Orders page to subscribe.
If you still need assistance, please email email@example.com