Robust Backstepping Sliding Mode Controller Investigation for a Port Plate Position Servo System Based on an Extended States Observer

This study proposes a novel hierarchical nonlinear proportional-integral fast terminal sliding mode (HNLPIFTSM) control for permanent magnet synchronous motor (PMSM) speed regulation system. A new type of sliding surface called HNLPIFTSM surface, which combines the benefits of a nonlinear proportional-integral (PI) sliding mode surface and a fast terminal sliding mode (FTSM) surface, is proposed to enhance the robustness and improved the dynamic response, whilst preserving the great property of the conventional hierarchical fast terminal sliding mode (HFTSM) control strategy. The proposed HNLPIFTSM surface uses the novel nonlinear PI sliding mode surface as its inner loop and uses the FTSM surface as its outer loop. Meanwhile, an extended state observer (ESO) is used to estimate the uncertain terms of the PMSM speed regulation system. Furthermore, the stability of the closed-loop control system under the ESO and the HNLPIFTSM control strategy is proved by the Lyapunov stability theorem. Finally, the simulations and experimental demonstrations verify the effectiveness and superiorities of our proposed HNLPIFTSM control strategy over the conventional HFTSM control strategy.

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“…Then, substituting the proposed HNLPIFTSM control input (18) into (20), the following equation can be obtained.…”

Section: Control Strategies Designedmentioning

confidence: 99%

“…A novel field oriented control (FOC) of the PMSM speed regulation system based on the proposed HNLPIFTSM control strategy (18) with the linear ESO ( 29) is given in Figure 1.…”

Section: Linear Eso Designedmentioning

confidence: 99%

A novel hierarchical nonlinear proportional-integral fast terminal sliding mode control for PMSM drives

Peng

Zhang

2021

Advances in Mechanical Engineering

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“…Different from above studies, the proposed AKDSS only employ one nonlinear hydraulic actuator, which has the merit of energy efficient and convenient implementation. Electrohydrostatic actuator (EHA) has strong nonlinear characteristics, thus the advance control theory such as sliding mode control, backstepping control, and adaptive control and so on are applied to achieve nonlinear tracking control of EHA for active suspension. Guan et al proposed an adaptive sliding mode control for electrohydraulic system with considering nonlinear unknown parameters such as original volumes of cylinders, a good performance of tracking task is verified by the experimental results.…”

Section: Introductionmentioning

confidence: 99%

Robust adaptive backstepping sliding mode control for motion mode decoupling of two‐axle vehicles with active kinetic dynamic suspension systems

Ding

Zhang

et al. 2020

Intl J Robust & Nonlinear

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A mode decoupling control strategy is proposed for the active Kinetic Dynamic Suspension Systems (KDSS) with electrohydrostatic actuator (EHA) to improve the roll and warp mode performances. A matrix transfer method is employed to derive the modes of body and wheel station motions for full vehicle with active KDSS. The additional mode stiffness produced by the active KDSS is obtained and quantitatively described with the typical physical parameters. A new hierarchical feedback control strategy is proposed for the active KDSS to improve the roll and warp motion performances and simultaneously accounting for nonlinear dynamics of the actuators with hydraulic uncertainties. H∞ static output-feedback control is employed to obtain the desirable mode forces, and a new projection-based adaptive backstepping sliding mode tracking controller is designed for EHA to deal with address the nonlinearity and parameters uncertainty. This controller is used to realize the desirable pressure difference of EHA required from the target mode forces. Numerical simulations are presented to compare the roll and warp performances between the active KDSS, conventional spring-damper suspension, and suspension with antiroll bar under typical excitation conditions. The evaluation indices are normalized and compared with radar chart. The obtained results illustrate that the proposed active KDSS with proposed controller does not produce additional warp motion for vehicle body, and has achieved more reasonable tire force distribution among wheel stations, the roll stability, road holding, and significantly improved ride comfort simultaneously.

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“…Considering the strong non‐linearity of the NHT and the error between the mathematical model and the actual physical system, Shen et al designed a robust controller combined with the universal approximation of pi‐sigma fuzzy neural network (PSFNN), and the simulation verified its effective tracking performance and anti‐interference ability under the influence of uncertain parameters [24]. In another research front line, as one of the commonly used design methods for non‐linear systems, the backstepping method has also been widely applied in the controller design of the CPR system [25–27], providing new effective design method for robust controller to improve the control performance of the hydraulic system. However, the aforementioned researches on the NHT control system have simplified the dynamics of the control states, without considering the impact of input delay and state constraints which are the hotspots and difficulties in the field of control [28].…”

Section: Introductionmentioning

confidence: 99%

Speed tracking control for hydraulic transformer system based on active regulating common pressure rail

Shen

2020

IET Control Theory & Appl

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This study investigates the speed tracking control problem for the new hydraulic transformer controlled system based on the active regulating common pressure rail with both input delay and strong interference. Firstly, the Pade approximation approach is adopted to approximate and compensate for the input delay of the valve plate rotating controlled by the hydraulic swing motor. Then, the Levant filter is introduced to solve the ‘explosion of complexity’ caused by repeated differentiation of the virtual control signals, and the compensation mechanism is constructed to compensate for the filtering errors. Besides, due to the strong non‐linear characteristics of the proposed system, the pi‐sigma fuzzy neural network is employed as the function approximator to address the non‐linear terms. Based on finite‐time command control technology and the barrier Lyapunov functionals, a robust controller is synthesised to ensure a better error convergence performance while without violating the state constraint. Finally, the effectiveness of the controller is verified by comparison with the traditional control method and simulation result.

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Robust Backstepping Sliding Mode Controller Investigation for a Port Plate Position Servo System Based on an Extended States Observer

Cited by 22 publications

References 25 publications

A novel hierarchical nonlinear proportional-integral fast terminal sliding mode control for PMSM drives

A novel hierarchical nonlinear proportional-integral fast terminal sliding mode control for PMSM drives

Robust adaptive backstepping sliding mode control for motion mode decoupling of two‐axle vehicles with active kinetic dynamic suspension systems

Speed tracking control for hydraulic transformer system based on active regulating common pressure rail

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