Variable structure force control of suspension loading system

This paper presented a variable structure controller for the nonlinear system, the state information including position, velocity, and acceleration is selected as cascade function, and the stability and robustness are enhanced by making use of exponential convergence. Through classifying factors related to nonlinearity, the Lyapunov function is constructed, and the adaptive control law is developed for the nonlinear system under parameter disturbance and non-parametric uncertainty, which is also adopted to reduce the vibration of responses on cascade surface. Simulation results illustrates that variable structure force loading control is superior to classical PID controller, it proposes a novel control scheme for force loading system with states feedback.