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A novel nonsingular fixed-time control for uncertain bridge crane system using two-layer adaptive disturbance observer

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Abstract

This article aims to design a fixed-time control scheme for a class of uncertain bridge crane systems. Firstly, consider the existence of unknown external disturbances in the bridge crane system working in a complex environment, a novel two-layer adaptive disturbance observer (TADO) based on the principle of equivalent control is designed. Adaptation gain dynamics of TADO parameters can avoid chattering which exists in traditional disturbance observer (DO) with constant gains and enhance the TADO’s robustness to different disturbances on the other hand. Secondly, according to the estimated disturbances, a novel continuous nonsingular terminal sliding mode (CNTSM) controller is proposed to achieve the control objective of bridge crane system in fixed time, and a specific expression for the convergence time of the system is provided. The process of rigorous theoretical proof is given by using Lyapunov theory. Finally, numerical simulation and experimental results show the superiority and realizability of the control law proposed in this paper.

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Data availability

All data included in this study are available upon request from the corresponding author.

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Funding

This work was partially supported by the National Natural Science Foundation of China (grant numbers 61933009, 62073276), in part by Natural Science Foundation of Hebei Province (F2022203036, F2021203109, F2020203062, F2021203054). Provincial Key Laboratory Performance Subsidy Project (22567612H).

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Authors and Affiliations

  1. Institute of Electrical Engineering, Yanshan University, Qinhuangdao City, 066004, China

    Yana Yang, Xiaoshuang Zhou & Junpeng Li

Authors
  1. Yana Yang
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  2. Xiaoshuang Zhou
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  3. Junpeng Li
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Contributions

All authors contributed to the study conception and design. Material preparation, data collection and analysis were performed by YY, XZ and JL. The first draft of the manuscript was written by XZ, and all authors commented on previous versions of the manuscript. All authors read and approved the final manuscript.

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Correspondence to Junpeng Li.

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Yang, Y., Zhou, X. & Li, J. A novel nonsingular fixed-time control for uncertain bridge crane system using two-layer adaptive disturbance observer. Nonlinear Dyn 111, 14001–14013 (2023). https://doi.org/10.1007/s11071-023-08586-5

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  • DOI: https://doi.org/10.1007/s11071-023-08586-5

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