Disturbance observer–based adaptive integral sliding mode control for the hybrid automobile electro-coating conveying mechanism

Abstract

This article seeks to achieve high tracking performance of the hybrid automobile electro-coating conveying mechanism with disturbances and uncertainties. An integral sliding mode control scheme is first presented to eliminate the reaching phase in sliding mode control. Then, an adaptive integral sliding mode controller is designed without knowing the disturbance information. Finally, a composite strategy, referred to as nonlinear disturbance observer (NDO)-based adaptive integral sliding model control, is put forward to further reduce the switching gain. By compensating the lumped disturbances via a NDO, the switching gain is only required to be higher than upper bound of the disturbance estimation error which is much smaller than actual disturbance. The results of both numerical simulations and experiments show that the proposed approach has good control performance especially in reducing the switching gain and alleviating the chattering problem.

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

“…e Lagrangian-Euler method is employed to extract the dynamic of the HCM. e obtained dynamic model could be described as follows [2]:…”

“…Assume that the disturbances d 1 and d 2 are bounded and slowly time varying. For disturbance estimation in the electrically driven HCM (8), the following NDO is utilized [2,22]:…”

“…e parameters of the mechanism and motor for simulations are given in Tables 1 and 2, respectively. e desired trajectory is chosen the same as in [2].…”

“…Although the HCM system could be considered as an important development branch of mechanical research, it is a highly nonlinear, strongly coupled, time varying system, and parametric uncertainties. Meanwhile, due to external disturbances such as the fluid resistance, joint friction, variable load, and motor torque disturbance in practical applications, the high-performance trajectory tracking control could not be easily achieved [2].…”

P-Rob Six-Degree-of-Freedom Robot Manipulator Dynamics Modeling and Anti-Disturbance Control

“…Robot manipulator systems are often subject to various uncertain external perturbations and modeling inaccuracy problems in practical applications, so anti-disturbance control and adaptive neural-network control has successfully been used to solve the control problems of robot manipulators. A control scheme based on a disturbance observer is proposed for robot manipulators with internal and external disturbances in [17]. In [18], a general framework is proposed for disturbed nonlinear systems using disturbance observer-based control (DOBC) techniques.…”