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An Improved Quasi-continuous Controller with Disturbance Observer for Rotational Shell Magazine Position Control

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  • Control Theory and Applications
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Abstract

This article proposes a new control scheme by combining an improved quasi-continuous controller (IQCC) and sliding mode disturbance observer (SMDO) for automatic chain shell magazine (ACSM) position control. Unlike conventional quasi-continuous controller (QCC), the new IQCC switches between two formulas according to the value of the first derivative of sliding variable. The influence of parameters design in IQCC on the control effect is further discussed. By combining IQCC with SMDO, the design of controller gain is independent of the uncertainties bound. The close-loop stability of combined scheme is proved by a Lyapunov function. Compared with QCC, IQCC performs better in convergence rate and chattering restraining. The scheme could achieve satisfied control effects for nonlinear systems with uncertain disturbances. Simulation and experimental results verify the superiority of the proposed controller over QCC and proportional integral (PI).

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Correspondence to Qiang Yin.

Additional information

Dong Chen received his B.S. degree in mechanical engineering from Nanjing University of Science and Technology, Nanjing, China, in 2016. He is currently pursuing a 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 his B.Tech. and M.Sc. degrees from East China Institute of Technology, Nanjing, China, in 1982 and 1985, respectively, and a 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.

Quan Zou received his Ph.D. degree from the Nanjing University of Science and Technology, Nanjing, China, in 2015. From 2016 to 2020, he was a Research Assistant with the School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing, China. He is the author of more than 10 articles. His research interests include sliding mode control, fuzzy control, adaptive control, and their applications.

Qiang Yin received his Ph.D. degree from Nanjing University of Aeronautics & Astronautics, Nanjing, China, in 2011. In 2011, he joined the School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing, China, where he is currently an Associate Professor. His current research interests include structural dynamic, structural health monitoring, system identification, and mechanical reliability.

Caicheng Yue received his B.S. and Ph.D. degrees from the Nanjing University of Science and Technology, Nanjing, China, in 2012 and 2018, respectively. In 2018, he joined the China North Industry Corporation, Beijing, China. His research interests include robust control, servo control, and sliding mode control.

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Chen, D., Qian, L., Zou, Q. et al. An Improved Quasi-continuous Controller with Disturbance Observer for Rotational Shell Magazine Position Control. Int. J. Control Autom. Syst. 20, 3198–3212 (2022). https://doi.org/10.1007/s12555-021-0253-3

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