Robust Tracking and Synchronization of Double Shaking Tables Based on Adaptive Sliding Mode Control With Novel Reaching Law

To improve tracking and synchronization control precision of electro-hydraulic shaking tables system, this paper presents a novel adaptive reaching law sliding mode controller (ARLSMC) for double shaking tables system with parameter uncertainty and disturbance. The ARLSMC combined a sliding mode controller based on a novel adaptive reaching law to improve dynamic performance with an adaptive controller to estimate the uncertain parameters online in order to reduce the system chattering. Besides, the proposed ARLSMC is introduced into the cross-coupled controller of double shaking tables. The stability of the control system is analyzed applying Lyapunov theory, and it is proven that both the tracking errors and synchronization error can converge to zero in finite time. The co-simulation model is built using MATLAB/Simulink and Adams for verification of the proposed control strategy. Various simulation tests are performed and simulation results demonstrate that the proposed method has a fast dynamic response performance, high control precision, and strong robustness.