Title: Dynamic surface adaptive integral-terminal sliding mode control for theodolite rotating systems

Authors: Zhenxin He; Chuntong Liu; Zhili Zhang; Xianxiang Huang

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 ' Xi'an Research Institute of High Technology, Xi'an City, Shaan Xi Province, 710025, China

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.

Keywords: theodolite rotating system; system modelling; dynamic surface control; DSC; adaptive control; integral terminal SMC; sliding mode control; ITSM; finite time convergence; nonlinear models; uncertainty parameters; mathematical modelling; sliding mode chatter; simulation; stability theory; velocity tracking.

DOI: 10.1504/IJMIC.2015.069943

International Journal of Modelling, Identification and Control, 2015 Vol.23 No.3, pp.222 - 229

Available online: 16 Jun 2015

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