Time-Varying Integral Adaptive Sliding Mode Control for the Large Erecting System. (29th September 2014)

• Record Type: Journal Article
• Authors: Zheng, Xie; Jian, Xie; Wenzheng, Du; Liang, Li; Yang, Guo
• Other Names: Chen Chunlin Academic Editor.
• Is Part Of: Mathematical problems in engineering. Volume 2014(2014)
• Publication Date: 2014-09-29
• Subjects: Engineering mathematics -- Periodicals; 510.2462
• DOI: 10.1155/2014/950768
• Languages: English
• ISSNs: 1024-123X

Abstract

Abstract : Considering the nonlinearities, uncertainties of large erecting system, and the circumstance disturbances in erecting process, a novel sliding mode control strategy is proposed in this research. The proposed control strategy establishes the sliding mode without reaching phase using an integral sliding surface. Thus, robustness against uncertainties increases from the very beginning of the process. Furthermore, adaptive laws are used for the controller to estimate the unknown but bounded system uncertainties. Therefore, the upper bounds of the system uncertainties are not required to be known in advance. Then, the time-varying term is applied to ensure the global robustness. Moreover, the boundary layer method is used to attenuate the high frequency chattering. The experiment results demonstrated that the proposed strategy could effectively restrain parametric uncertainties and external disturbances and improve the tracking accuracy in the erecting process. In addition, the control performance of the proposed control strategy is better than that of the PID control and the conventional sliding mode control.