Designing the Adaptive Tracking Controller for Uncertain Fully Actuated Dynamical Systems with Additive Disturbances Based on Sliding Mode

Table 2

The physical parameters supplied by the feedback instrument.

	Mass of the counterweight beam	0.022 kg
	Mass of the counterweight	0.068 kg
	Mass of main part of the beam	0.014 kg
	Mass of the main DC motor	0.236 kg
	Mass of the main shield	0.219 kg
	Mass of the tail part of the beam	0.015 kg
	Mass of the tail DC motor	0.221 kg
	Mass of the tail shield	0.119 kg
	Radius of the main shield	0.155 m
	Radius of the tail shield	0.1 m
	Length of the offset between base and joint	0.06 m
	Gravitational acceleration	9.8 m/s^2
	Gyroscopic constant	0.2
	Positive constant	2 × 10^−4
	Positive constant	2.6 × 10^−5
	Length of tail part of the beam	0.282 m
	Length of main part of the beam	0.246 m
	Length of counterweight beam	0.29 m
	Distance between counterweight and joint	0.276 m
	Positive constant	1.84 × 10^−6
	Positive constant	2.2 × 10^−7
	Positive constant	1.62 × 10^−5
	Positive constant	1.08 × 10^−5