Adaptive Sliding Mode Control for Electro-hydraulic Servo System of Ammunition Manipulator Based on Disturbance Observer

doi:10.3969/j.issn.1000-1093.2020.09.006

Abstract

Abstract: A disturbance observer-based adaptive sliding mode control strategy is proposed for ammunition manipulator electro-hydraulic servo system with unmatched and parameter uncertainties. A disturbance observer is adopted to estimate the unmatched uncertainties in the system, and the stability of disturbance observer is proved by Lyapunov stability theory. In order to effectively compensate the unmatched uncertainties and improve the control accuracy, the disturbance observer is introduced into the design of integral sliding mode switching function. An adaptive law is introduced into the design of sliding mode controller to improve the dynamic performance, which reduces the influence of system parameter uncertainties. Besides, the global stability of the controller is proved. Experimental results show that the disturbance observer and the adaptive law can accurately describe the system characteristics, the disturbance observer-based adaptive sliding mode controller proposed in this research tracks the desired tracking trajectory well. The designed controller has strong robustness and guarantees prescribed dynamic tracking characteristics and final steady-state accuracy under different operating conditions.

Key words: electro-hydraulicservosystemofammunitionmanipulator, disturbanceobserver, adaptiveslidingmodecontrol, unmatcheduncertainty, parameteruncertainty

CLC Number:

NIE Shoucheng， QIAN Linfang， CHEN Zhiqun， WEI Yukai， YIN Qiang. Adaptive Sliding Mode Control for Electro-hydraulic Servo System of Ammunition Manipulator Based on Disturbance Observer[J]. Acta Armamentarii, 2020, 41(9): 1745-1751.

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