Cross-coupled synchronization control for dual driven scanning system sliding mode-based

摘要

This paper proposes a continuous time sliding mode cross-coupled synchronization controller design to implement dual driven components coordination. Firstly, dynamic models are built with the analysis of two subsystem kinematic patterns, and a system state space equation with respect to the rotating angles and angle velocities is present. Secondly, a synchronization error space equation is structured by introducing individual tracking errors for two subsystems using cross-coupled control algorithm. Considering the real motion system, a disturbance item is present into the error space equation to approximate the practical situation more reliable. Finally, combining the sliding mode principle with Lyapunov stability theory, the control law is designed. The sliding mode function and switch control item are chosen to construct Lyapunov function. Owing to the influence from non-linear items present above, a disturbance observer is introduced to deal with the deviation over the sliding mode surface. A feasible control law including the surface and disturbance items is deduced by introducing the Lyapunov function. The validation for effectiveness and practicability of the control algorithm proposed will be implemented using MATLAB simulation.