Robust adaptive terminal sliding mode-based synchronised position control for multiple motion axes systems

• DOI: 10.1049/iet-cta:20070272
• Publication Date: 2009-01-07T23:27:36Z
• Authors: D. Zhao; S. Li; F. Gao; Q. Zhu
• Keywords: Robustness; Terminal sliding mode; Position (finance); Tracking error; Position error

A novel robust adaptive terminal sliding mode position synchronised control (RATSMPSC) approach is developed for the operation of multiple motion axes systems. The RATSMPSC structure designed in cross-coupling error space to stabilise tracking each axis while coordinating its with other finite time. criterion design that any and synchronisation should be converged zero time simultaneously. An mechanism employed estimate controller parameters so request prior knowledge bounds system uncertainty can alternatively resolved. corresponding stability analysis presented lay a foundation theoretical understanding underlying issues as well safely operating real proposed has strong rejection capacity against external disturbances robustness deal model uncertainties. illustrative example initially simulated demonstrate performance approach.