J Shanghai Jiaotong Univ Sci ›› 2021, Vol. 26 ›› Issue (6): 847-856.doi: 10.1007/s12204-020-2218-8

• Automation, Image Processing • Previous Articles     Next Articles

Fast Smooth Second-Order Sliding Mode Control with Disturbance Observer for Automatic Shell Magazine

YAO Laipeng1,2 (姚来鹏), HOU Baolin2∗(侯保林), LIU Xi2 (刘曦)   

  1. (1. School of Mechanical Engineering, Changshu Institute of Technology, Suzhou 215500, Jiangsu, China;2. School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China)
  • Received:2019-03-15 Online:2021-11-28 Published:2021-12-01

Abstract: This paper studies practical control design for a novel automatic shell magazine (ASM) with a newfast smooth second-order sliding mode (FSSOSM) control based on disturbance observer. The dynamic modelof the ASM with parameter perturbations and nonlinear friction is established. A higher order sliding modedisturbance observer based on super-twisting algorithm is utilized as a robust compensator to estimate the lumpeduncertainties. The proposed FSSOSM control is performed to obtain the continuous sliding mode control lawand inhibit the chattering phenomenon. The finite time convergence is investigated by utilizing the Lyapunovstability theorem. Three controllers, the traditional sliding mode controller, the proposed FSSOSM controller anda continuous fixed-time second-order sliding mode (CFTSOSM) controller, are compared. Extensive comparativesimulation results under three typical working conditions (no-loaded, half-loaded and full-loaded) demonstratethat the proposed control strategy has a high dynamic tracking performance along with a good robustness againstmodel uncertainty.

Key words: nonlinear systems, model uncertainty, disturbance observer, finite-time convergence, sliding modecontrol

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