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

作者机构：School of Mechanical EngineeringChangshu Institute of TechnologySuzhou 215500JiangsuChina School of Mechanical EngineeringNanjing University of Science and TechnologyNanjing 210094China 

出 版 物：《Journal of Shanghai Jiaotong university(Science)》 (上海交通大学学报（英文版）)

年 卷 期：2021年第26卷第6期

页      面：847-856页

核心收录：

学科分类：08[工学] 0835[工学-软件工程] 0802[工学-机械工程] 080201[工学-机械制造及其自动化] 

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

主　　题：nonlinear systems model uncertainty disturbance observer finite-time convergence sliding mode control 

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 *** 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 *** proposed FSSOSM control is performed to obtain the continuous sliding mode control law and inhibit the chattering *** finite time convergence is investigated by utilizing the Lyapunov stability *** controllers,the traditional sliding mode controller,the proposed FSSOSM controller and a continuous fixed-time second-order sliding mode(CFTSOSM)controller,are *** 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.