Extended state observer-based finite time position control of rotational shell magazine via higher order sliding mode technique

In this paper, a LuGre model–based robust adaptive control (RAC) approach is presented for a pump-controlled hydraulic actuator. We first decompose the LuGre friction model into its steady-state model and a lumped dynamic part applying the mean value theorem, which are compensated by a feedforward term and a robust adaptive term, respectively. The robust adaptive term also plays a part in mismatched disturbance attenuation. In addition, parametric uncertainties and matched disturbances are handled by σ-modified adaptation laws and a robust control law, respectively. The stability of the closed-loop system is proved via the Lyapunov analysis. The efficacy and robustness of the proposed approach are validated by comparative experiments. Compared with common adaptive friction compensation methods, the proposed method has a simpler structure, less computational burden, better control performance, and stronger robustness. Moreover, since the available information is separated from the LuGre model and acts as a model-based compensation term, the design conservativeness of RAC is effectively reduced.

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Extended state observer-based finite time position control of rotational shell magazine via higher order sliding mode technique

Cited by 3 publications

References 33 publications

System identification for a chain conveyor based on physics-dominated deep learning

System identification for a chain conveyor based on physics-dominated deep learning

Model-driven full system dynamics estimation of PMSM-driven chain shell magazine

LuGre model–based robust adaptive control for a pump-controlled hydraulic actuator experiencing friction

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