Adaptive Backstepping Sliding Mode Control of the Hybrid Conveying Mechanism with Mismatched Disturbances via Nonlinear Disturbance Observers
Joint Authors
Li, Jianzhen
Gao, Guoqin
Yuan, Wei
Source
Journal of Control Science and Engineering
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-13, 13 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-08-25
Country of Publication
Egypt
No. of Pages
13
Main Subjects
Electronic engineering
Information Technology and Computer Science
Abstract EN
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.
American Psychological Association (APA)
Yuan, Wei& Gao, Guoqin& Li, Jianzhen. 2020. Adaptive Backstepping Sliding Mode Control of the Hybrid Conveying Mechanism with Mismatched Disturbances via Nonlinear Disturbance Observers. Journal of Control Science and Engineering،Vol. 2020, no. 2020, pp.1-13.
https://search.emarefa.net/detail/BIM-1182704
Modern Language Association (MLA)
Yuan, Wei…[et al.]. Adaptive Backstepping Sliding Mode Control of the Hybrid Conveying Mechanism with Mismatched Disturbances via Nonlinear Disturbance Observers. Journal of Control Science and Engineering No. 2020 (2020), pp.1-13.
https://search.emarefa.net/detail/BIM-1182704
American Medical Association (AMA)
Yuan, Wei& Gao, Guoqin& Li, Jianzhen. Adaptive Backstepping Sliding Mode Control of the Hybrid Conveying Mechanism with Mismatched Disturbances via Nonlinear Disturbance Observers. Journal of Control Science and Engineering. 2020. Vol. 2020, no. 2020, pp.1-13.
https://search.emarefa.net/detail/BIM-1182704
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1182704