Adaptive Backstepping Sliding Mode Control of the Hybrid Conveying Mechanism with Mismatched Disturbances via Nonlinear Disturbance Observers
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 t...
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| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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Wiley
2020-01-01
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| Series: | Journal of Control Science and Engineering |
| Online Access: | http://dx.doi.org/10.1155/2020/7376503 |
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| _version_ | 1832550551113433088 |
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| author | Wei Yuan Guoqin Gao Jianzhen Li |
| author_facet | Wei Yuan Guoqin Gao Jianzhen Li |
| author_sort | Wei Yuan |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-51ad3ba5ec5c4a479a78367efa6286d3 |
| institution | Kabale University |
| issn | 1687-5249 1687-5257 |
| language | English |
| publishDate | 2020-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Control Science and Engineering |
| spelling | doaj-art-51ad3ba5ec5c4a479a78367efa6286d32025-02-03T06:06:26ZengWileyJournal of Control Science and Engineering1687-52491687-52572020-01-01202010.1155/2020/73765037376503Adaptive Backstepping Sliding Mode Control of the Hybrid Conveying Mechanism with Mismatched Disturbances via Nonlinear Disturbance ObserversWei Yuan0Guoqin Gao1Jianzhen Li2School of Electrical and Information Engineering, Jiangsu University, Zhenjiang 212013, ChinaSchool of Electrical and Information Engineering, Jiangsu University, Zhenjiang 212013, ChinaSchool of Electronic Information, Jiangsu University of Science and Technology, Zhenjiang 212003, ChinaAn 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.http://dx.doi.org/10.1155/2020/7376503 |
| spellingShingle | Wei Yuan Guoqin Gao Jianzhen Li Adaptive Backstepping Sliding Mode Control of the Hybrid Conveying Mechanism with Mismatched Disturbances via Nonlinear Disturbance Observers Journal of Control Science and Engineering |
| title | Adaptive Backstepping Sliding Mode Control of the Hybrid Conveying Mechanism with Mismatched Disturbances via Nonlinear Disturbance Observers |
| title_full | Adaptive Backstepping Sliding Mode Control of the Hybrid Conveying Mechanism with Mismatched Disturbances via Nonlinear Disturbance Observers |
| title_fullStr | Adaptive Backstepping Sliding Mode Control of the Hybrid Conveying Mechanism with Mismatched Disturbances via Nonlinear Disturbance Observers |
| title_full_unstemmed | Adaptive Backstepping Sliding Mode Control of the Hybrid Conveying Mechanism with Mismatched Disturbances via Nonlinear Disturbance Observers |
| title_short | Adaptive Backstepping Sliding Mode Control of the Hybrid Conveying Mechanism with Mismatched Disturbances via Nonlinear Disturbance Observers |
| title_sort | adaptive backstepping sliding mode control of the hybrid conveying mechanism with mismatched disturbances via nonlinear disturbance observers |
| url | http://dx.doi.org/10.1155/2020/7376503 |
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