This study investigates the control of theodolite rotating system, and proposes an adaptive backstepping sliding mode control framework to overcome the non-linearities and uncertainties of the system. In terms of practical operation, a non-linear model is established by describing the relationship between the state variables of theodolite rotating system and the control voltage. For designing the controller, sliding mode control and adaptive control are introduced to effectively deal with non-linearity and uncertainty effect. Simulation results show that the adaptive sliding mode controller has reasonable robustness and tracking performance against PID control, and the dynamics and stability of theodolite rotating surveying system have been improved.
['Zhenxin He', 'Xianxiang Huang', 'Chuntong Liu', 'Quanmin Zhu', 'Ying Zhan', 'Gangfeng Deng']
Adaptive backstepping sliding mode control for theodolite rotating systems