Low-switching gain robust super-spiral sliding mode control method for series-parallel type automobile electrophoretic coating conveying mechanism

The invention discloses a low-switching gain robust super-spiral sliding mode control method for a series-parallel type automobile electrophoretic coating conveying mechanism. The method comprises thesteps of designing a sliding mode surface in combination with a global sliding mode so as to eliminate a super-spiral sliding mode control approaching stage for a series-parallel type automobile electrophoretic coating conveying mechanism; designing an adaptive law which can ensure the robustness of a control system under the condition that time-varying uncertainty upper bound information is unknown and meanwhile, adjust the change direction and the change speed of a sliding mode switching gain to quickly obtain the minimum possible adaptive law; and finally, sending the control quantity obtained through Jacobian matrix conversion to a motor driver to achieve the low-switching-gain robust super-spiral sliding mode control over the series-parallel type automobile electrophoretic coating conveying mechanism. Under