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Robust Control for Bidirectional Stabilization System With Time Delay Estimation

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  • Control Theory and Applications
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Abstract

In this paper, to address the problem of high precision tracking control for bidirectional stabilization system of marching all-electric tank, a continuous nonsingular terminal sliding mode (CNTSM) control method combined with time delay estimation (TDE) technique is presented. First, the nonlinear mathematical model of the bidirectional stabilization system with consideration of actuator dynamics is established. Second, the TDE method is invoked to estimate the unknown system dynamics and provide fascinating model-free structures. Then, a CNTSM surface and a fast TSM reaching law are constructed to guarantee finite-time convergence. The proposed controller no longer requires system dynamics benefiting from TDE, while ensuring high accuracy, fast convergence and good robustness against lumped uncertainty due to the CNTSM manifold and the fast TSM reaching law. The stability and finite-time convergence of the closed-loop system are analyzed applying Lyapunov theory. Extensive comparative results verify the superiority with the proposed controller.

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Authors and Affiliations

  1. School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing, 210094, China

    Shu-sen Yuan, Wen-xiang Deng, Jian-yong Yao & Guo-lai Yang

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  1. Shu-sen Yuan
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  2. Wen-xiang Deng
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Correspondence to Wen-xiang Deng.

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The authors declare that there is no competing financial interest or personal relationship that could have appeared to influence the work reported in this paper.

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This work was supported in part by the National Natural Science Foundation of China under Grant 52275062, in part by the Natural Science Foundation of Jiangsu Province under Grant BK20230096, and in part by the National Natural Science Foundation of China under Grant 52075262.

Shu-sen Yuan is currently working toward a Ph.D. degree in the School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China. His current research interests include servo control of mechatronic systems and adaptive robust control.

Wen-xiang Deng received his Ph.D. degree from the Nanjing University of Science and Technology, Nanjing, China, in 2018. In 2018, he joined the School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing, China, and currently as an associate professor. His current research interests include servo control of mechatronic systems, robust adaptive control, and nonlinear compensation.

Jian-yong Yao received his Ph.D. degree in mechatronics from the Beihang University, Bejing, China, in 2012. In 2012, he joined the School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing, China, and currently as a full professor. His current research interests include servo control of mechatronic systems, adaptive and robust control, fault detection, and accommodation of dynamic systems.

Guo-lai Yang received his Ph.D. degree in automatic weapons and ammunition engineering from the Nanjing University of Science and Technology, Nanjing, China, in 1999. He is currently a full professor of mechanical engineering with the School of Mechanical Engineering. His research interests include mechanical system dynamics, virtual design, and simulation technique.

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Yuan, Ss., Deng, Wx., Yao, Jy. et al. Robust Control for Bidirectional Stabilization System With Time Delay Estimation. Int. J. Control Autom. Syst. 22, 1163–1175 (2024). https://doi.org/10.1007/s12555-022-0807-z

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  • DOI: https://doi.org/10.1007/s12555-022-0807-z

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