Abstract
In this paper, a dynamic adaptive sliding mode control algorithm is proposed to overcome the nonlinearities, uncertainties and circumstance disturbances that exist in the process of mechanism erecting. The backstepping methodology is applied in developing the Lyapunov-based controller. Then the dynamic surface control which using first integral filter to evaluate the derivative of virtual control item combined with sliding mode control is introduced to realize nonlinear control. Furthermore, adaptive algorithm is adopted to estimate the uncertainty parameters, and the control law and adaptive scheme are also presented. By Lyapunov stability theorem, the system is proven to be asymptotically stable. Simulation results show that compared to the PID controller and conventional sliding mode controller, the proposed control method has nicer robustness and more accurate tracking ability, and the stability of the erecting process has improved
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