Sliding mode control of the automobile electro-coating conveying mechanism with a nonlinear disturbance observer

The trajectory-tracking performance of the automobile electro-coating conveying mechanism is severely interrupted by highly nonlinear crossing couplings, unmodeled dynamics, parameter variation, friction, and unknown external disturbance. In this article, a sliding mode control with a nonlinear disturbance observer is proposed for high-accuracy motion control of the conveying mechanism. The nonlinear disturbance observer is designed to estimate not only the internal/external disturbance but also the model uncertainties. Based on the output of the nonlinear disturbance observer, a sliding mode control approach is designed for the hybrid series–parallel mechanism. Then, the stability of the closed-loop system is proved by means of a Lyapunov analysis. Finally, simulations with typical desired trajectory are presented to demonstrate the high performance of the proposed composite control scheme.

[1]  Wen-Hua Chen,et al.  Sliding mode control for a class of uncertain nonlinear system based on disturbance observer , 2009 .

[2]  Peter J. Gawthrop,et al.  A nonlinear disturbance observer for robotic manipulators , 2000, IEEE Trans. Ind. Electron..

[3]  Kouhei Ohnishi,et al.  Microprocessor-Controlled DC Motor for Load-Insensitive Position Servo System , 1985, IEEE Transactions on Industrial Electronics.

[4]  Zongxia Jiao,et al.  Adaptive Robust Control of DC Motors With Extended State Observer , 2014, IEEE Transactions on Industrial Electronics.

[5]  Lu Ren,et al.  Integration of saturated PI synchronous control and PD feedback for control of parallel manipulators , 2006, IEEE Transactions on Robotics.

[6]  Lei Guo,et al.  Disturbance-Observer-Based Control and Related Methods—An Overview , 2016, IEEE Transactions on Industrial Electronics.

[7]  Hamid D. Taghirad,et al.  Robust PID control of fully-constrained cable driven parallel robots , 2014 .

[8]  Jean-Pierre Barbot,et al.  Sliding Mode Control In Engineering , 2002 .

[9]  Xibin Cao,et al.  Fault-tolerant sliding mode attitude tracking control for flexible spacecraft with disturbance and modeling uncertainty , 2017 .

[10]  Hebertt Sira-Ramirez,et al.  On the Robust Control of Buck-Converter DC-Motor Combinations , 2013, IEEE Transactions on Power Electronics.

[11]  Lei Guo,et al.  Disturbance/Uncertainty Estimation and Attenuation Techniques in PMSM Drives—A Survey , 2017, IEEE Transactions on Industrial Electronics.

[12]  Sun Fuchun.  Research and development on theory and algorithms of sliding mode control , 2007 .

[13]  Jian Huang,et al.  Nonlinear disturbance observer based sliding mode control of a human-driven knee joint orthosis , 2016, Robotics Auton. Syst..

[14]  Guoqin Gao,et al.  Chattering-free sliding mode synchronization control for a hybrid mechanism , 2017 .

[15]  Reza Haghighi,et al.  Lyapunov-Based Nonlinear Disturbance Observer for Serial n-Link Robot Manipulators , 2009, J. Intell. Robotic Syst..

[16]  Shuang Cong,et al.  Nonlinear computed torque control for a high-speed planar parallel manipulator , 2009 .

[17]  M. Spong,et al.  Robot Modeling and Control , 2005 .

[18]  Leila Notash,et al.  Adaptive sliding mode control with uncertainty estimator for robot manipulators , 2010 .

[19]  Yang Gao,et al.  Anti-disturbance proportional integral attitude control and stabilization of rolling hydraulic position system , 2017, J. Syst. Control. Eng..

[20]  Huijun Gao,et al.  Vibration Isolation for Active Suspensions With Performance Constraints and Actuator Saturation , 2015, IEEE/ASME Transactions on Mechatronics.

[21]  Lei Guo,et al.  Composite anti-disturbance attitude and vibration control for flexible spacecraft , 2017 .

[22]  Xinghuo Yu,et al.  Design and Implementation of Terminal Sliding Mode Control Method for PMSM Speed Regulation System , 2013, IEEE Transactions on Industrial Informatics.

[23]  Ke Fu,et al.  Robust Control Design for a Planar Parallel robot , 2007, Int. J. Robotics Autom..

[24]  Bin Yao,et al.  $\mu$-Synthesis-Based Adaptive Robust Control of Linear Motor Driven Stages With High-Frequency Dynamics: A Case Study , 2015, IEEE/ASME Transactions on Mechatronics.

[25]  Zongxia Jiao,et al.  Extended-State-Observer-Based Output Feedback Nonlinear Robust Control of Hydraulic Systems With Backstepping , 2014, IEEE Transactions on Industrial Electronics.

[26]  Gao Guoqin,et al.  Dynamic Modeling of a Novel Mechanism for Automobile Electro-coating Conveying , 2016 .

[27]  Zongxia Jiao,et al.  Output Feedback Robust Control of Direct Current Motors With Nonlinear Friction Compensation and Disturbance Rejection , 2015 .

[28]  Mahdi Tavakoli,et al.  Nonlinear Disturbance Observer Design For Robotic Manipulators , 2013 .

[29]  Jun Yang,et al.  Disturbance Observer-Based Control: Methods and Applications , 2014 .