文章基本信息

标题：Disturbance observer–based adaptive integral sliding mode control for the hybrid automobile electro-coating conveying mechanism
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作者：Wei Yuan ; Guoqin Gao
期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2019
卷号：16
期号：3
页码：1-12
DOI：10.1177/1729881419844126
出版社：SAGE Publications
摘要：This article seeks to achieve high tracking performance of the hybrid automobile electro-coating conveying mechanism with disturbances and uncertainties. An integral sliding mode control scheme is first presented to eliminate the reaching phase in sliding mode control. Then, an adaptive integral sliding mode controller is designed without knowing the disturbance information. Finally, a composite strategy, referred to as nonlinear disturbance observer (NDO)-based adaptive integral sliding model control, is put forward to further reduce the switching gain. By compensating the lumped disturbances via a NDO, the switching gain is only required to be higher than upper bound of the disturbance estimation error which is much smaller than actual disturbance. The results of both numerical simulations and experiments show that the proposed approach has good control performance especially in reducing the switching gain and alleviating the chattering problem.
关键词：Hybrid conveying mechanism; adaptive integral sliding mode control; nonlinear disturbance observer; chattering reduction