Adaptive fuzzy global identical terminal sliding mode control for cross-beam system

Cross-beam experiment system(CBES)^[1] as a high degree nonlinear, strong coupled MIMO control system has very high application value in the engineering and military affairs. Based on the rule of constructing the global identical terminal function^[2], a kind of speedy terminal function^[4] is validated as the global identical terminal function and the basic theory of the global identical terminal sliding mode control is expatiated; then exponential reaching law^[3] is adopted to design the controller and a variable domain fuzzy controller^[7,8] is adopted to approximate parameter of reaching law. The approach can not only weaken chattering, improve speed of error convergence and precision of the controller, but also assure robustness of the system. Simulation result shows the effectiveness of the approach presented.