Adaptive Backstepping Sliding Mode Control of the Hybrid Conveying Mechanism with Mismatched Disturbances via Nonlinear Disturbance Observers

Abstract

An adaptive backstepping sliding mode controller combined with a nonlinear disturbance observer is designed for trajectory tracking of the electrically driven hybrid conveying mechanism with mismatched disturbances. A nonlinear disturbance observer is constructed for estimation and compensation of the mismatched and matched disturbances. Then, a hybrid control scheme is designed by combining the adaptive backstepping sliding mode controller and the mentioned observer. The Lyapunov candidate functions are utilized to derive the control and adaptive law. According to the simulation and experimental results, superior tracking performance could be obtained through the presented control scheme compared with conventional backstepping sliding mode control. Meanwhile, the presented control scheme can effectively reduce the chattering problem and improve tracking precision.

Research on High-Precision Attitude Control of Joint Actuator of Three-Axis Air-Bearing Test Bed

“…He et al [21] investigated a relative coupling control strategy based on the sliding mode controller to realize the multiaxis servosynergic control with variable proportions during the operation of the system. Yuan et al [22] designed a nonlinear disturbance observer and an adaptive backstepping sliding mode controller and then combined the two to design a hybrid control scheme.…”