Skip to main content
SpringerLink
Log in

Extended state observer-based finite time position control of rotational shell magazine via higher order sliding mode technique

  • Original Article
  • Published:
Journal of Mechanical Science and Technology Aims and scope Submit manuscript

Abstract

An adaptive higher order sliding mode controller based on a novel finite-time extended state observer is designed for rotational shell magazine position tracking control. The design of observer does not need to use the eigenvalue of a specific matrix and thus the observer design can be greatly simplified. Based on the observer, the controller does not rely on the bound of disturbance. The values of controller gains could be reduced and chattering will be restrained. Observation error and tracking error are both finite-time stable. The close-loop stability has been proven via Lyapunov theory. Simulation and experiment results show that compared with twisting controller and proportional-integral controller, the proposed scheme can reduce the overshoot, weaken the chattering and reach the steady state faster in the presence of time-varying disturbance, parameter uncertainties and measurement noise.

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

Similar content being viewed by others

References

  1. Z. Chen, L. Qian and G. Chen, Dynamics of luffing motion of a hydraulically driven shell manipulator with revolute clearance joints, Defence Technology, 18(4) (2021) 689–708.

    Google Scholar 

  2. Y. Deng, J. Wang and H. Lie, Adaptive sliding mode current control with sliding mode disturbance observer for PMSM drives, ISA Transactions, 88 (2019) 113–126.

    Article  Google Scholar 

  3. Q. Zou, Extended state observer-based finite time control of electro-hydraulic system via sliding mode technique, Asian Journal of Control, 24(5) (2022) 2311–2327, https://doi.org/10.1002/asjc.2638.

    Article  MathSciNet  Google Scholar 

  4. H. Kim, M. Zhu and J. Lian, Distributed robust adaptive frequency control of power systems with dynamic loads, IEEE Transactions on Automatic Control, 65(11) (2020) 4887–4894.

    Article  MathSciNet  MATH  Google Scholar 

  5. C. Lee and D. An, Reinforcement learning and neural network-based artificial intelligence control algorithm for self-balancing quadruped robot, Journal of Mechanical Science and Technology, 35(1) (2021) 307–322.

    Article  Google Scholar 

  6. T. Wang, J. Wu and Y. Wang, Adaptive fuzzy tracking control for a class of strict-feedback nonlinear systems with time-varying input delay and full state constraints, IEEE Transactions on Fuzzy Systems, 28(12) (2020) 3432–3441.

    Article  Google Scholar 

  7. A. Fan and S. Chang, Extended state observer-based back-stepping sliding mode control for an electromagnetic valve actuator, Journal of Mechanical Science and Technology, 33(2)(2019) 847–856.

    Article  Google Scholar 

  8. K. Zare, M. Shasadeghi and A. Izadian, Switching TS fuzzy model-based dynamic sliding mode observer design for non-differentiable nonlinear systems, Engineering Applications of Artificial Intelligence, 96 (2021) 103990.

    Article  Google Scholar 

  9. Q. Zou, Adaptive sliding mode control for chain driving system with disturbance observer, Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 234(9) (2020) 1050–1059.

    Google Scholar 

  10. Z. Zhang, H. Li and W. Yan, Fully distributed control of linear systems with optimal cost on directed topologies, IEEE Transactions on Circuits and Systems—II: Express Briefs, 68(1) (2021) 336–340.

    Article  Google Scholar 

  11. G. Huang, Z. Zhang and W. Yan, Bipartite consensus control for linear multi-agent systems with disturbance, 2022 5th International Symposium on Autonomous Systems (ISAS), Hang-zhou, China (2022) 1–5.

  12. M. Gaballah, M. Bardini and M. Sharaf, Chattering-free sliding mode observer for speed sensorless control of PMSM, Applied Computing and Informatics, 13(2) (2020) 169–174.

    Article  Google Scholar 

  13. X. He and Z. Zhao, Boundary control design for a vibrating flexible string system with input nonlinearities, Nonlinear Dynamics, 93 (2018) 323–333.

    Article  MATH  Google Scholar 

  14. K. Devika and S. Thomas, Power rate exponential reaching law for enhanced performance of sliding mode control, International Journal of Control, Automation and System, 15(6) (2017) 2636–2645.

    Article  Google Scholar 

  15. L. Tan, J. Gao and Y. Luo, Super-twisting sliding mode control with defined boundary layer for chattering reduction of permanent magnet linear synchronous motor, Journal of Mechanical Science and Technology, 35(5) (2021) 1829–1840.

    Article  Google Scholar 

  16. J. Hui and J. Yuan, Chattering-free higher order sliding mode controller with a high-gain observer for the load following of a pressurized water reactor, Energy, 223 (2021) 120066.

    Article  Google Scholar 

  17. L. Yao, B. Hou and X. Liu, Fast smooth second-order sliding mode control with disturbance observer for automatic shell magazine, Journal of Shanghai Jiao Tong University (Science), 26(6) (2020) 847–856.

    Google Scholar 

  18. N. Han, Z. Li and Q. Zou, Fuzzy adaptive sliding mode control of chain servo system, Proceedings of the 38th Chinese Control Conference (CCC), Guangzhou, China (2019) 2725–2730.

  19. Q. Zou, L. Qian and Y. Xu, Adaptive fuzzy sliding mode control of rotational shell magazine, Journal of Southeast University (Nature Science Edition), 45(1) (2015) 63–68.

    MathSciNet  Google Scholar 

  20. J. Liu, M. Sun and Z. Chen, Super-twisting sliding mode control for aircraft at high angle of attack based on finite-time extended state observer, Nonlinear Dynamics, 99(4) (2020) 2785–2799.

    Article  MATH  Google Scholar 

  21. Z. Zhou, Y. Shi and S. Zhang, Robust cooperative optimal sliding-mode control for high-order nonlinear systems: directed topologies, IEEE Transactions on Cybernetics, 52(6) (2022) 5535–5547.

    Article  Google Scholar 

  22. R. Hendel, F. Khaber and N. Essounbouli, Adaptive high order sliding mode controller/observer based terminal sliding mode for MIMO uncertain nonlinear system, International Journal of Control, 94(2) (2021) 486–506.

    Article  MathSciNet  MATH  Google Scholar 

  23. L. Qiu and L. Zhu, Synthesis design of filtering differential phase shifters of independently suppressed harmonics, IEEE Transactions on Circuits and Systems—II Express Briefs, 68(8) (2021) 2760–2764.

    Article  Google Scholar 

  24. Z. Xu, N. Qi and Y. Chen, Parameter estimation of a three-axis spacecraft simulator using recursive least-squares approach with tracking differentiator and extended kalman filter, Acta Astronautica, 117 (2015) 254–262.

    Article  Google Scholar 

  25. C. Wang, X. Ji and Z. Zhang, Tracking differentiator based back-stepping control for valve-controlled hydraulic actuator system, ISA Transactions, 119 (2022) 208–220.

    Article  Google Scholar 

  26. L. Sun and Y. Liu, Extended state observer augmented finite-time trajectory tracking control of uncertain mechanical systems, Mechanical Systems and Signal Processing, 139 (2020) 106374.

    Article  Google Scholar 

  27. S. E. Talole, J. P. Kolhe and S. B. Phadke, Extended-state-observer-based control of flexible-joint system with experimental validation, IEEE Transactions on Industrial Electronics, 57(4) (2010) 1411–1419.

    Article  Google Scholar 

  28. B. Li, K. Qin and B. Xiao, Finite-time extended state observer based fault tolerant output feedback control for attitude stabilization, ISA Transactions, 91 (2019) 11–20.

    Article  Google Scholar 

  29. L. Zhang, C. Wei and R. Wu, Fixed-time extended state observer based non-singular fast terminal sliding mode control for a VTVL reusable launch vehicle, Aerospace Science and Technology, 82–83 (2018) 70–79.

    Article  Google Scholar 

  30. Y. Yu, L. Ding and W. Wang, Finite-time composite adaptive fuzzy control of permanent magnet synchronous motors, International Journal of Fuzzy Systems, 24 (2022) 135–146.

    Article  Google Scholar 

  31. S. Jung and K. Nam, PMSM control based on edge-field hall sensor signals through ANF-PLL processing, IEEE Transactions on Industrial Electronics, 58(11) (2011) 5121–5129.

    Article  Google Scholar 

  32. M. Arici and T. Kara, Robust adaptive fault tolerant control for a process with actuator faults, Journal of Process Control, 92 (2020) 169–184.

    Article  Google Scholar 

  33. V. Mohan, H. Chhabra and A. Rani, An expert 2DOF fractional order fuzzy PID controller for nonlinear systems, Neural Computing and Applications, 31 (2019) 4253–4270.

    Article  Google Scholar 

  34. J. Mao, J. Yang and S. Li, Output feedback-based sliding mode control for disturbed motion control systems via a higher-order ESO approach, IET Control Theory and Applications, 12(15) (2018) 2118–2126.

    Article  MathSciNet  Google Scholar 

  35. M. V. Basin, C. B. Panathula and Y. B. Shtessel, Continuous finite-time higher order output regulators for systems with unmatched unbounded disturbances, IEEE Transactions on Industrial Electronics, 63(8) (2016) 5036–5043.

    Google Scholar 

  36. S. Bhat and D. S. Bernstein, Finite-time stability of continuous autonomous systems, SIAM Journal on Control and Optimization, 38(3) (2000) 751–766.

    Article  MathSciNet  MATH  Google Scholar 

  37. Q. Hu and B. Jiang, Continuous finite-time attitude control for rigid spacecraft based on angular velocity observer, IEEE Transactions on Aerospace and Electronic Systems, 54(3) (2018) 1082–1092.

    Article  MathSciNet  Google Scholar 

  38. N. Ali, I. Tawiah and W. Zhang, Finite-time extended state observer based nonsingular fast terminal sliding mode control of autonomous underwater vehicles, Ocean Engineering, 218 (2020) 108179.

    Article  Google Scholar 

  39. S. Yuri, E. Christopher, F. Leonid and A. Levant, Sliding Mode Control and Observation, Birkhauser, Basel, Switzerland (2014).

    Google Scholar 

Download references

Acknowledgments

This work was supported by the National Natural Science Foundation of China (No. U2141246).

Author information

Authors and Affiliations

  1. School of Mechanical Engineering, NanJing University of Science and Technology, Nanjing, 210014, China

    Dong Chen, Linfang Qian & Qiang Yin

  2. Northwest Institute of Mechanical and Electrical Engineering, Xianyang, 712099, China

    Linfang Qian

  3. North Automatic Control Technology Institute, Taiyuan, 030000, China

    Guodong Liu

Authors
  1. Dong Chen
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Linfang Qian
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Qiang Yin
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Guodong Liu
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Linfang Qian.

Additional information

Dong Chen was born in YangZhou, China, in 1994. He received the B.S. degree in mechanical engineering from NanJing University of Science and Technology, NanJing, China, in 2016. He is currently pursuing the Ph.D. degree in mechanical engineering from NanJing University of Science and Technology, NanJing, China. His research interests include nonlinear control and observer, sliding mode control, as well as their industrial applications.

Linfang Qian received the B. Tech. degree and the M. Sc. degree from East China Institute of Technology, Nanjing, China, in 1982 and 1985, respectively, and the Ph.D. degree from Nanjing University of Science and Technology, Nanjing, China, in 1999. Prof. Qian started his teaching and research career at Nanjing University of Science and Technology after his graduation in 1985. His current research is focused on overall design of mechanical systems, advanced machine design theory and automation technology, multidisciplinary design optimization, adaptive control for motion mechanism, and innovative methods for system reliability design.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Chen, D., Qian, L., Yin, Q. et al. Extended state observer-based finite time position control of rotational shell magazine via higher order sliding mode technique. J Mech Sci Technol 37, 3113–3124 (2023). https://doi.org/10.1007/s12206-023-0536-0

Download citation

  • Received:

  • Revised:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s12206-023-0536-0

Keywords

Search

Navigation