On Adaptive Sliding-Mode Control for Cross Beam System

The three-channel nonlinear model of cross beam system is analyzed in the paper. In order to overcome the influence of coupled terms among three channels, the nonlinear model is disposed to include linear section and nonlinear coupled section. Based on that, an adaptive sliding-mode control method is applied to design the control systems of three channels. It uses an adaptive algorithm to compensate the nonlinear coupled terms, and it uses the sliding-mode control method to guarantee the convergence to zero of the system track error. Simulation results show that the designed adaptive sliding-mode control system possesses very good control effect.