Adaptive sliding mode control of inclination angle and tension for a suspended anti-gravity device

In this paper, the Suspended Anti-Gravity Device (SAGD) is studied to construct sustainable microgravity environment on the ground. To overcome the difficulty of accurate gravity compensation when SAGD is disturbed, a new adaptive sliding mode controller is proposed based on the dynamic model, which effectively ensures the stability of inclination angle and tension. The simulation and experiment results show that the transient time and steady-state error are small, which satisfies the requirements of spacecraft ground verification.