Fast Smooth Second-Order Sliding Mode Control with Disturbance Observer for Automatic Shell Magazine  

作　　者：YAO Laipeng HOU Baolin LIU Xi 姚来鹏;侯保林;刘曦(School of Mechanical Engineering,Changshu Institute of Technology,Suzhou 215500,Jiangsu,China;School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing 210094,China)

机构地区：[1]School of Mechanical Engineering,Changshu Institute of Technology,Suzhou 215500,Jiangsu,China [2]School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing 210094,China

出　　处：《Journal of Shanghai Jiaotong university(Science)》2021年第6期847-856,共10页上海交通大学学报（英文版）

基　　金：the National Program on Key Basic Research Project(No.61324901);the National Natural Science Foundation of China(No.51175266)。

摘　　要：This paper studies practical control design for a novel automatic shell magazine(ASM)with a new fast smooth second-order sliding mode(FSSOSM)control based on disturbance observer.The dynamic model of the ASM with parameter perturbations and nonlinear friction is established.A higher order sliding mode disturbance observer based on super-twisting algorithm is utilized as a robust compensator to estimate the lumped uncertainties.The proposed FSSOSM control is performed to obtain the continuous sliding mode control law and inhibit the chattering phenomenon.The finite time convergence is investigated by utilizing the Lyapunov stability theorem.Three controllers,the traditional sliding mode controller,the proposed FSSOSM controller and a continuous fixed-time second-order sliding mode(CFTSOSM)controller,are compared.Extensive comparative simulation results under three typical working conditions(no-loaded,half-loaded and full-loaded)demonstrate that the proposed control strategy has a high dynamic tracking performance along with a good robustness against model uncertainty.

关 键 词：nonlinear systems model uncertainty disturbance observer finite-time convergence sliding mode control 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]