Nonsingular Terminal Sliding Mode Control of Cross Beam Control System

In order to ensure the system tracking error to converge to zero in finite time,the nonsingular terminal sliding mode control approach is applied to design the controller of cross beam system.The coupled factors of three channels of cross beam system and external disturbance are treated as uncertain terms,and the model of cross beam system is transformed into a similarly decoupled form.Adaptive algorithms are designed to adjust the parameters of three channels' controllers,so as to estimate and compensate the uncertain terms;therefore three channels' controllers don't contain coupled factors,and their structure is simplified.Simultion analysis shows the designed three channels' nonsingular terminal sliding mode controllers have faster tracking speed and higher tracking precision than the former controllers.