Abstract:

In order to overcome the nonlinear characteristics, parameter uncertainties and circumstance disturbances that exist in the control of mechanism erecting, a dynamic surface adaptive sliding mode control method is proposed. The nonlinear mathematic model of erecting system is built at first. Then the dynamic surface control which using first integral filter to evaluate the derivative of virtual control item is introduced to simplify the controller designing. Furthermore, the adaptive law which estimates the uncertainty parameters online is applied to eliminate the system uncertainties. And control law and adaptive law are presented. The simulation results show that compared with the proportion integral derivative controller and conventional sliding mode controller, the proposed control method has better robustness and more accurate tracking ability, and the stability of the erecting process is improved.