Novel fast adaptive terminal sliding mode controller for cross beam system

In order to improve the system's response speed, this paper first researched the influence of the parameters of the nonlinear switching manifolds on the system, then made an investigation on existence condition and hitting condition. Based on these conditions, a novel fast adaptive terminal sliding mode (ATSM) control scheme was proposed, which combined the adaptive law with terminal sliding mode (TSM) control. For eliminating the chattering of the sliding regime this VSS introduced a dead zone, in which the parameter wasn't changed. When control signal was large, the ATSM was the majority, and when the signal was low the TSM was applied. This approach was applied to design the control of a cross beam experimental system. The simulation results show the effectiveness of the proposed control method.