Adaptive nonlinear second-order sliding mode synchronization control of direct drive H-type platform with zero error constraint

Abstract

In order to achieve better synchronization performance for H-type platform servo systems during motion, an adaptive nonlinear second-order sliding mode synchronous control method with zero error constraint is proposed in this paper. The reason and mechanism of unsynchronized movement of H-type platform are analyzed. A synchronous thrust allocation algorithm based on dynamics is designed by using the thrust balance equation under zero error constraint to suppress the rotation movement of the crossbeam theoretically. To minimize the impact of external disturbances on the system, the system employs a robust adaptive nonlinear second-order sliding mode control method. In this method, the nonlinear sliding mode function is constructed to enhance the dynamic performance of the system, the second-order sliding mode surface is designed to achieve chatter-free control input. To address the issue of limitations in sliding mode control caused by upper limits of external disturbances, an adaptive control technique is employed to estimate and compensate for uncertainties such as external disturbances. Experimental results demonstrate that the proposed synchronous control strategy can effectively adjust the operating conditions of the two motors, improve the synchronous control performance and enhance the anti-interference ability of the system.