Skip to main content
SpringerLink
Log in

Improved extended state observer-based global sliding-mode finite-time control for displacement tracking of a hydraulic roofbolter

  • Original Paper
  • Published:
Nonlinear Dynamics Aims and scope Submit manuscript

Abstract

The dead-zone nonlinearity and uncertain dynamics inevitably weaken the tracking performance of the displacement system for a hydraulic roofbolter. To solve the above problem, a global sliding-mode controller based on a reduced-order proportional-derivative-type (PD-type) extended state observer (GSMC-PDESO) is proposed. Firstly, the displacement system model of a hydraulic roofbolter is built by using a compensation technique to suppress the effect of dead-zone nonlinearity on control performance. Following that, a novel extended state observer that has less dimensions and few gains than standard one, called reduced-order PD-type extended state observer, is designed, with the purpose of improving the estimation performance and suppressing noise amplification. Moreover, a global sliding-mode unit mainly composed of a novel global integral sliding-mode surface and a novel global sliding-mode control law is developed, which aims to improve global robustness, eliminate the chattering and adverse impact on estimation error of disturbances, as well as provide an effective and continuous control law. By comparing the proposed GSMC-PDESO with ten control methods, the comparative experimental results verify the effectiveness of the proposed GSMC-PDESO and strategies.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7
Fig. 8
Fig. 9

Similar content being viewed by others

Data availability

Data sharing not applicable to this article as no datasets were generated or analysed during the current study.

References

  1. Alonge, F., Cirrincione, M., D’Ippolito, F., Pucci, M., Sferlazza, A.: Robust active disturbance rejection control of induction motor systems based on additional sliding-mode component. IEEE Trans. Ind. Electron. 64(7), 5608–5621 (2017)

    Article  Google Scholar 

  2. Banza, A.T., Tan, Y., Mareels, I.: Integral sliding mode control design for systems with fast sensor dynamics. Automatica 119, 109093 (2020)

    Article  MathSciNet  MATH  Google Scholar 

  3. Cao, G.Z., Liu, Y.H., Jang, Y.C., Zhang, F.F., Bian, G.B., Owens, D.H.: Observer-based continuous adaptive sliding mode control for soft actuators. Nonlinear Dyn. 105(1), 371–386 (2021)

    Article  Google Scholar 

  4. Cui, R.X., Chen, L.P., Yang, C.G., Mou, C.: Extended state observer-based integral sliding mode control for an underwater robot with unknown disturbances and uncertain nonlinearities. IEEE Trans. Ind. Electron. 64(8), 6785–6795 (2017)

    Article  Google Scholar 

  5. Daehee, W., Wonhee, K., Masayoshi, T.: High-gain-observer-based integral sliding mode control for position tracking of electrohydraulic servo systems. IEEE/ASME Trans. Mechatron. 22(6), 2695–2704 (2017)

    Article  Google Scholar 

  6. Du, H., Shi, J.J., Chen, J.D., Zhang, Z.Z., Feng, X.Y.: High-gain observer-based integral sliding mode tracking control for heavy vehicle electro-hydraulic servo steering systems. Mechatronics 74, 102484 (2021)

    Article  Google Scholar 

  7. Guo, Y.N., Cheng, W., Gong, D.W., Zhang, Y., Zhang, Z., Xue, G.H.: Adaptively robust rotary speed control of an anchor-hole driller under varied surrounding rock environments. Control. Eng. Pract. 86, 24–36 (2019)

    Article  Google Scholar 

  8. Guo, Y.N., Zhang, Z., Liu, Q.Y., Nie, Z., Gong, D.W.: Decoupling-based adaptive sliding-mode synchro-position control for a dual-cylinder driven hydraulic support with different pipelines. ISA Trans. 123, 357–371 (2021)

    Article  Google Scholar 

  9. Han, J.Q.: Active disturbance rejection controller and its applications. Control Decis. 13(1), 19–23 (1998)

    Google Scholar 

  10. Han, J.Q.: Active Disturbance Rcjection Control Technique-the Technique for Estimating and Compensating the Uncertaintics. National Defense Industry Press, Beijing (2008)

    Google Scholar 

  11. He, Y.D., Wang, J.Z., Hao, R.J.: Adaptive robust dead-zone compensation control of electro-hydraulic servo systems with load disturbance rejection. J. Syst. Sci. Complex. 28(2), 341–359 (2015)

  12. Hou, S.X., Chu, Y.D., Fei, J.T.: Intelligent global sliding mode control using recurrent feature selection neural network for active power filter. IEEE Trans. Ind. Electron. 68(8), 7320–7329 (2021)

    Article  Google Scholar 

  13. Lewis, F.L., Tim, W.K., Wang, L.Z., Li, Z.X.: Deadzone compensation in motion control systems using adaptive fuzzy logic control. IEEE Trans. Control Syst. Technol. 7(6), 731–742 (1999)

    Article  Google Scholar 

  14. Li, G.L., Peng, C.: Event-triggered-based adaptive sliding mode control for networked linear control systems. Trans. Inst. Meas. Control. 44(10), 2024–2036 (2022)

    Article  Google Scholar 

  15. Liu, J.X., Gao, Y.B., Su, X.J., Wack, M., Wu, L.G.: Disturbance-observer-based control for air management of PEM fuel cell systems via sliding mode technique. IEEE Trans. Control Syst. Technol. 27(3), 1129–1138 (2019)

    Article  Google Scholar 

  16. Liu, J.X., Shen, X.N., Alcaide, A.M., Yin, Y.F., Leon, J.I., Vazquez, S., Wu, L.G., Franquelo, L.G.: Sliding mode control of grid-connected neutral-point-clamped converters via high-gain observer. IEEE Trans. Ind. Electron. 69(4), 4010–4021 (2022)

    Article  Google Scholar 

  17. Liu, J.X., Vazquez, S., Wu, L.G., Marquez, A., Gao, H.J., Franquelo, L.G.: Extended state observer-based sliding-mode control for three-phase power converters. IEEE Trans. Ind. Electron. 64(1), 22–31 (2017)

    Article  Google Scholar 

  18. Liu, J.X., Wu, L.G., Wu, C.W., Luo, W.S., Franquelo, L.G.: Event-triggering dissipative control of switched stochastic systems via sliding mode. Automatica 103, 261–273 (2019)

    Article  MathSciNet  MATH  Google Scholar 

  19. Liu, J.X., Yin, Y.F., Luo, W.S., Vazquez, S., Franquelo, L.G., Wu, L.G.: Sliding mode control of a three-phase AC/DC voltage source converter under unknown load conditions: industry applications. IEEE Trans. Syst. Man Cybern. Syst. 48(10), 1771–1780 (2018)

    Article  Google Scholar 

  20. Merritt, H.E.: Hydraulic Control Systems. Wiley, New York (1967)

    Google Scholar 

  21. Polyakov, A.: Nonlinear feedback design for fixed-time stabilization of linear control systems. IEEE Trans. Autom. Control 57(8), 2106–2110 (2012)

    Article  MathSciNet  MATH  Google Scholar 

  22. Ren, C., Li, X.H., Yang, X.B., Ma, S.G.: Extended state observer based sliding mode control of an omnidirectional mobile robot with friction compensation. IEEE Trans. Ind. Electron. 66(12), 9480–9489 (2019)

    Article  Google Scholar 

  23. Sastry, S.: Lyapunov Stability Theory. Springer, New York (1999)

    Book  Google Scholar 

  24. Shen, W., Liu, S., Liu, M.: Adaptive sliding mode control of hydraulic systems with the event trigger and finite-time disturbance observer. Inf. Sci. 569, 55–69 (2021)

    Article  MathSciNet  Google Scholar 

  25. Shen, X.N., Liu, J.X., Luo, W.S., Leon, J.I., Vazquez, S., Marquez, A., Franquelo, L.G., Wu, L.G.: High-performance second-order sliding mode control for NPC converters. IEEE Trans. Ind. Inf. 16(8), 5345–5356 (2020)

    Article  Google Scholar 

  26. Shi, S., Gu, J., Xu, S.Y., Min, H.F.: Globally fixed-time high-order sliding mode control for new sliding mode systems subject to mismatched terms and its application. IEEE Trans. Ind. Electron. 67(12), 10776–10786 (2020)

    Article  Google Scholar 

  27. Sun, H.B., Li, S.H., Sun, C.Y.: Finite time integral sliding mode control of hypersonic vehicles. Nonlinear Dyn. 73(1–2), 229–244 (2013)

    Article  MathSciNet  MATH  Google Scholar 

  28. Sun, X.J., Zhang, Q.L.: Observer-based adaptive sliding mode control for T-S fuzzy singular systems. IEEE Trans. Syst Man Cybern. Syst. 50(11), 4438–4446 (2020)

    Article  Google Scholar 

  29. Sun, Y.Z., Gao, Y.B., Zhao, Y., Liu, Z., Wang, J.H., Kuang, J.Y., Yan, F., Liu, J.X.: Neural network-based tracking control of uncertain robotic systems: Predefined-time nonsingular terminal sliding-mode approach. IEEE Trans. Ind. Electron. 69(10), 10510–10520 (2022)

    Article  Google Scholar 

  30. Wang, Y.S., Liu, J.J., Chen, Z.Q., Sun, M.W., Sun, Q.L.: On the stability and convergence rate analysis for the nonlinear uncertain systems based upon active disturbance rejection control. Int. J. Robust Nonlinear Control 30(14), 5728–5750 (2020)

    Article  MathSciNet  MATH  Google Scholar 

  31. Wu, L.G., Liu, J.X., Vazquez, S., Mazumder, S.K.: Sliding mode control in power converters and drives: a review. IEEE/CAA J. Autom. Sinica 9(3), 392–406 (2022)

    Article  Google Scholar 

  32. Zhang, J., Guo, L.: Theory and design of pid controller for nonlinear uncertain systems. IEEE Control Syst. Lett. 3(3), 643–648 (2019)

    Article  MathSciNet  Google Scholar 

  33. Zhang, Z., Guo, Y.N., Gong, D.W., Liu, J.X.: Global integral sliding-mode control with improved nonlinear extended state observer for rotary tracking of a hydraulic roofbolter. IEEE/ASME Trans. Mechatron. 28(1), 483–494 (2023)

    Article  Google Scholar 

  34. Zhang, Z., Guo, Y.N., Gong, D.W., Zhu, S.: Hybrid extended state observer-based integral sliding mode control of the propulsion for a hydraulic roofbolter. Control. Eng. Pract. 126, 105260 (2022)

    Article  Google Scholar 

  35. Zhao, J.S., Yang, T., Sun, X.Y., Dong, J., Wang, Z.P., Yang, C.: Sliding mode control combined with extended state observer for an ankle exoskeleton driven by electrical motor. Mechatronics 76(4), 102554 (2021)

    Article  Google Scholar 

  36. Zhao, Y., Wang, J.H., Yan, F., Shen, Y.: Adaptive sliding mode fault-tolerant control for type-2 fuzzy systems with distributed delays. Inf. Sci. 473, 227–238 (2019)

    Article  MathSciNet  MATH  Google Scholar 

  37. Zheng, Q., Gaol, L.Q., Gao, Z.Q.: On stability analysis of active disturbance rejection control for nonlinear time-varying plants with unknown dynamics. In: IEEE Conference on Decision and Control, pp. 3501–3506 (2007)

  38. Zhuo, S.R., Gaillard, A., Xu, L.C., Paire, D., Gao, F.: Extended state observer-based control of DC-DC converters for fuel cell application. IEEE Trans. Power Electron. 35(9), 9923–9932 (2020)

    Article  Google Scholar 

  39. Zou, Q.: Extended state observer-based finite time control of electro-hydraulic system via sliding mode technique. Asian J. Control 24(5), 2311–2327 (2022)

    Article  MathSciNet  Google Scholar 

Download references

Acknowledgements

This work is supported by the National Natural Science Foundation of China under Grant 61973305, the National Key R & D Program of China under Grant 2022YFB4703701, the Foundation of Key Laboratory of System Control and Information Processing, Ministry of Education, P.R. China under Grant Scip202203, and the Open Foundation of State Key Laboratory for Mining Response and Disaster Prevention and Control of Deep Coal Mines under Grant SKLMRDPC22KF21.

Funding

The authors have not disclosed any funding.

Author information

Authors and Affiliations

  1. School of Mathematics, China University of Mining and Technology, Xuzhou, 221116, China

    Zhen Zhang & Song Zhu

  2. State Key Laboratory for Mining Response and Disaster Prevention and Control of Deep Coal Mines, Huainan, 232001, China

    Zhen Zhang & Yinan Guo

  3. School of Information and Control Engineering, China University of Mining and Technology, Xuzhou, 221116, China

    Yinan Guo

  4. School of Mechanical Electronic and Information Engineering, China University of Mining and Technology (Beijing), Beijing, 110083, China

    Yinan Guo

  5. School of Information Science and Technology, Qingdao University of Science and Technology, Qingdao, 266061, China

    Dunwei Gong

Authors
  1. Zhen Zhang
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Yinan Guo
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Dunwei Gong
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Song Zhu
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Yinan Guo.

Ethics declarations

Conflict of interest

The authors declare that they have no conflict of financial and non-financial interests, funding.

Additional information

Publisher's Note

Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

Rights and permissions

Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law.

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Zhang, Z., Guo, Y., Gong, D. et al. Improved extended state observer-based global sliding-mode finite-time control for displacement tracking of a hydraulic roofbolter. Nonlinear Dyn 111, 11191–11203 (2023). https://doi.org/10.1007/s11071-023-08440-8

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s11071-023-08440-8

Keywords

Search

Navigation