Robust synchronization motion tracking control for a two-slider system restrained by a flexible beam

Abstract

This paper addresses the robust sync tracking control problem for a two-slider system where the motion of two sliders is restrained by a flexible beam. The system models are given at first. In the proposed models the dynamics of actuators are also considered. With employment of the models a novel variable gain sliding mode interval observer is proposed to estimate the external disturbances while reducing the system chattering caused by the conservative fixed gain. Then a tracking controller and an output restriction boundary controller for two sliders are designed. The tracking controller is used to tracking the desired trajectory and the output restriction boundary controller is used to restrict the deformation of the beam. The whole systems with the proposed controller are proved to be asymptotically stable by using traditional backstepping technology. Finally, numerical simulations illustrate that the proposed method are more effective compared with the existing method.