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.
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