Research on Adaptive Terminal Sliding Mode Control Strategy for Horizontal Vibration of High‐Speed Elevator Car System Based on Iterative Structured Disturbance Observer

ABSTRACT An adaptive fast integral terminal sliding mode control (AFITSMC) method based on an iterative structured disturbance observer (ISDO) is proposed to address the horizontal vibration problem caused by complex external disturbances and measurement noise in high‐speed elevator car systems. First, the integral state is introduced to describe the lumped disturbance of the elevator car system, and a disturbance dynamic model is established. Based on an iterative learning structure, ISDO is designed to improve the estimation performance of the disturbance. Second, by introducing the terminal attraction factor into the design of the sliding surface of the nonlinear term to avoid singularity problems, and based on the backstepping method to design AFITSMC, combined with neural networks to approximate unknown dynamics in the system, the error convergence speed is improved. Then, an anti‐saturation compensator is introduced in AFITSMC to solve the control stability problem caused by input saturation in the system, and the estimated lumped disturbance action is fed forward compensation into AFITSMC. Finally, under the excitation of two typical guide rails, the proposed controller was compared with passive control, adaptive integral sliding mode control (AISMC), and adaptive integral terminal sliding mode control (AITMSC). The results showed that after adopting the proposed control method, the characteristic value of horizontal vibration acceleration was reduced by more than 77%, and it had good disturbance suppression ability for external disturbances and measurement noise, verifying the effectiveness of the proposed controller.