In this paper,we investigate formation tracking control of autonomous underwater vehicles(AUVs)with model parameter uncertainties and external disturbances.The external disturbances due to the wind,waves,and ocean cur...In this paper,we investigate formation tracking control of autonomous underwater vehicles(AUVs)with model parameter uncertainties and external disturbances.The external disturbances due to the wind,waves,and ocean currents are combined with the model parameter uncertainties as a compound disturbance.Then a disturbance observer(DO)is introduced to estimate the compound disturbance,which can be achieved within a finite time independent of the initial estimation error.Based on a DO,a novel fixed-time sliding control scheme is developed,by which the follower vehicle can track the leader vehicle with all the states globally stabilized within a given settling time.The effectiveness and performance of the method are demonstrated by numerical simulations.展开更多
This paper is concerned with the stabilization problem for a class of nonlinear systems with disturbance. The disturbance model is unknown and the first derivative of disturbance is bounded. Firstly, a general disturb...This paper is concerned with the stabilization problem for a class of nonlinear systems with disturbance. The disturbance model is unknown and the first derivative of disturbance is bounded. Firstly, a general disturbance observer is proposed to estimate disturbance approximatively. Secondly, since the bound of the disturbance observer error is unknown, an adaptive sliding mode controller is designed to guarantee that the state of system asymptotically converges to zero and the unknown bound can be adjusted by an adaptive law. Finally, an example is given to illustrate the effectiveness of the proposed method.展开更多
Permanent magnet synchronous motor(PMSM)has been widely used in position control applications.Its performance is not satisfactory due to internal uncertainties and external load disturbances.To enhance the control per...Permanent magnet synchronous motor(PMSM)has been widely used in position control applications.Its performance is not satisfactory due to internal uncertainties and external load disturbances.To enhance the control performance of PMSM systems,a new method that has fast response and good robustness is proposed in this study.First,a modified integral terminal sliding mode controller is developed,which has a fast-sliding surface and a continuous reaching law.Then,an extended state observer is applied to measure the internal and external disturbances.Therefore,the disturbances can be compensated for in a feedforward manner.Compared with other sliding mode methods,the proposed method has faster response and better robustness against system disturbances.In addition,the position tracking error can converge to zero in a finite time.Simulation and experimental results reveal that the proposed control method has fast response and good robustness,and enables high-precision control.展开更多
The research on high-performance vector control of permanent magnet synchronous motor(PMSM)drive system plays an extremely important role in electrical drive system.To further improve the speed control performance of ...The research on high-performance vector control of permanent magnet synchronous motor(PMSM)drive system plays an extremely important role in electrical drive system.To further improve the speed control performance of the system,a fast non-singular end sliding mode(FNTSM)surface function based on traditional NTSM control is developed.The theoretical analysis proves that the FNTSM surface function has a faster dynamic response and more finite-time convergence.In addition,for the self-vibration problem caused by high sliding mode switching gain,an FNTSM control method with anti-disturbance capability was designed based on the linear disturbance observer(DO),i.e.the FNTSMDO method was employed to devise the PMSM speed regulator.The comparative simulation and experiment results with traditional PI control and NTSM control methods indicate that the FNTSMDO method could improve the dynamic performance and anti-interference of the system.展开更多
In this paper,a robust tracking control scheme based on nonlinear disturbance observer is developed for the self-balancing mobile robot with external unknown disturbances.A desired velocity control law is firstly desi...In this paper,a robust tracking control scheme based on nonlinear disturbance observer is developed for the self-balancing mobile robot with external unknown disturbances.A desired velocity control law is firstly designed using the Lyapunov analysis method and the arctan function.To improve the tracking control performance,a nonlinear disturbance observer is developed to estimate the unknown disturbance of the self-balancing mobile robot.Using the output of the designed disturbance observer,the robust tracking control scheme is presented employing the sliding mode method for the selfbalancing mobile robot.Numerical simulation results further demonstrate the effectiveness of the proposed robust tracking control scheme for the self-balancing mobile robot subject to external unknown disturbances.展开更多
This work proposes a new strategy to improve the rotor position estimation of a permanent magnet synchronous motor(PMSM) over wide speed range. Rotor position estimation of a PMSM is performed by using sliding mode ob...This work proposes a new strategy to improve the rotor position estimation of a permanent magnet synchronous motor(PMSM) over wide speed range. Rotor position estimation of a PMSM is performed by using sliding mode observer(SMO). An adaptive observer gain was designed based on Lyapunov function and applied to solve the chattering problem caused by the discontinuous function of the SMO in the wide speed range. The cascade low-pass filter(LPF) with variable cut-off frequency was proposed to reduce the chattering problem and to attenuate the filtering capability of the SMO. In addition, the phase shift caused by the filter was counterbalanced by applying the variable phase delay compensation for the whole speed area. High accuracy estimation result of the rotor position was obtained in the experiment by applying the proposed estimation strategy.展开更多
In view of the variation of system parameters and external load disturbance affecting the high-performance control of permanent magnet synchronous motor(PMSM),a fractional order integral sliding mode control(FOISMC)st...In view of the variation of system parameters and external load disturbance affecting the high-performance control of permanent magnet synchronous motor(PMSM),a fractional order integral sliding mode control(FOISMC)strategy is developed for PMSM drive system by means of fractional order sliding mode observer(FOSMO).Based on FOISMC technology,a fractional order integral sliding mode regulator(FOISM-based regulator)is designed,and a global integral sliding mode surface design method is presented,which can guarantee the global robustness of the system.Combining fractional order theory and sliding mode control theory,the FOSMO is constructed to achieve better identification accuracy of the speed and rotor position.Meanwhile the sliding mode load observer is used to observe the load torque in real time,and the observed value is transmitted to speed regulator to improve the capability of accommodating the challenge of load disturbance.Simulation results validate the feasibility and effectiveness of the proposed scheme.展开更多
This paper investigates interception missiles’trajectory tracking guidance problem under wind field and external disturbances in the boost phase.Indeed,the velocity control in such trajectory tracking guidance system...This paper investigates interception missiles’trajectory tracking guidance problem under wind field and external disturbances in the boost phase.Indeed,the velocity control in such trajectory tracking guidance systems of missiles is challenging.As our contribution,the velocity control channel is designed to deal with the intractable velocity problem and improve tracking accuracy.The global prescribed performance function,which guarantees the tracking error within the set range and the global convergence of the tracking guidance system,is first proposed based on the traditional PPF.Then,a tracking guidance strategy is derived using the integral sliding mode control techniques to make the sliding manifold and tracking errors converge to zero and avoid singularities.Meanwhile,an improved switching control law is introduced into the designed tracking guidance algorithm to deal with the chattering problem.A back propagation neural network(BPNN)extended state observer(BPNNESO)is employed in the inner loop to identify disturbances.The obtained results indicate that the proposed tracking guidance approach achieves the trajectory tracking guidance objective without and with disturbances and outperforms the existing tracking guidance schemes with the lowest tracking errors,convergence times,and overshoots.展开更多
An adaptive sliding mode control(ASMC) method, based on fractional-order disturbance-observer(FODOB), is presented for a class of fractional-order nonlinear time-delay systems(FONTDS) with uncertainties to solve the t...An adaptive sliding mode control(ASMC) method, based on fractional-order disturbance-observer(FODOB), is presented for a class of fractional-order nonlinear time-delay systems(FONTDS) with uncertainties to solve the target output tracking problem.The external disturbances are estimated by FODOB, and the unknown internal perturbations of the system are adaptively estimated by sliding mode control(SMC). Furthermore, Gronwall's inequality approach is used to ensure that the output tracking error is uniformly bounded for FONTDS. Firstly, a fractional-order sliding mode control(FOSMC) based FODOB is proposed for a fractional-order linear time-delay system(FOLTDS). Secondly, combined with adaptive estimation, the ASMC of FONTDS is studied. Finally, a numerical example of FONTDS is used to verify the effectiveness of the proposed methods.展开更多
In this paper,a grid voltage sensorless model predictive control is proposed and verified by simulation and experimental tests for a PWM rectifier.The presented method is simple and cost effective due to no need of mo...In this paper,a grid voltage sensorless model predictive control is proposed and verified by simulation and experimental tests for a PWM rectifier.The presented method is simple and cost effective due to no need of modulator and voltage sensors.The developed sliding mode voltage observer(SMVO)can theoretically track the grid voltage accurately without phase lag and magnitude error.Based on the proposed SMVO,the finite control set-model predictive control(FCS-MPC)is incorporated for power regulation.The active power and reactive power are calculated and predicted using the measured current and the estimated grid voltage from the SMVO.With the predicated power for one-step delay compensation,the best voltage vector minimizing the tracking error is selected by FCS-MPC.The whole algorithm is implemented in stationary frame without using Park's transformation.Both the simulation and experimental results validate the effectiveness of the proposed method.展开更多
Based on fuzzy adaptive and dynamic surface(FADS),an integrated guidance and control(IGC)approach was proposed for large caliber naval gun guided projectile,which was robust to target maneuver,canard dynamic character...Based on fuzzy adaptive and dynamic surface(FADS),an integrated guidance and control(IGC)approach was proposed for large caliber naval gun guided projectile,which was robust to target maneuver,canard dynamic characteristics,and multiple constraints,such as impact angle,limited measurement of line of sight(LOS)angle rate and nonlinear saturation of canard deflection.Initially,a strict feedback cascade model of IGC in longitudinal plane was established,and extended state observer(ESO)was designed to estimate LOS angle rate and uncertain disturbances with unknown boundary inside and outside of system,including aerodynamic parameters perturbation,target maneuver and model errors.Secondly,aiming at zeroing LOS angle tracking error and LOS angle rate in finite time,a nonsingular terminal sliding mode(NTSM)was designed with adaptive exponential reaching law.Furthermore,combining with dynamic surface,which prevented the complex differential of virtual control laws,the fuzzy adaptive systems were designed to approximate observation errors of uncertain disturbances and to reduce chatter of control law.Finally,the adaptive Nussbaum gain function was introduced to compensate nonlinear saturation of canard deflection.The LOS angle tracking error and LOS angle rate were convergent in finite time and whole system states were uniform ultimately bounded,rigorously proven by Lyapunov stability theory.Hardware-in-the-loop simulation(HILS)and digital simulation experiments both showed FADS provided guided projectile with good guidance performance while striking targets with different maneuvering forms.展开更多
In this paper,an intelligent fractional-order integral sliding mode control(FOISMC)strategy based on an improved cascade observer is proposed.First,an FOISMC strategy is designed to control a permanent magnet synchron...In this paper,an intelligent fractional-order integral sliding mode control(FOISMC)strategy based on an improved cascade observer is proposed.First,an FOISMC strategy is designed to control a permanent magnet synchronous motor.It has good tracking performance,is strongly robust,and can effectively reduce chattering.The proposed FOISMC strategy associates strong points of the integral action(which can eliminate steady-state tracking errors)and the fractional calculus(which is flexible).Second,an improved cascade observer is proposed to detect the rotor information with a smaller observation error.The proposed observer combines an adaptive sliding mode observer and an extended high-gain observer.In addition,an improved variable-speed grey wolf optimization algorithm is designed to enhance controller parameters.The effectiveness of the strategy is tested using simulations and an experiment involving model uncertainty and external disturbance.展开更多
This paper investigates the design of an attitude autopilot for a dual-channel controlled spinning glideguided projectile(SGGP),addressing model uncertainties and external disturbances.Based on fixed-time stable theor...This paper investigates the design of an attitude autopilot for a dual-channel controlled spinning glideguided projectile(SGGP),addressing model uncertainties and external disturbances.Based on fixed-time stable theory,a disturbance observer with integral sliding mode and adaptive techniques is proposed to mitigate total disturbance effects,irrespective of initial conditions.By introducing an error integral signal,the dynamics of the SGGP are transformed into two separate second-order fully actuated systems.Subsequently,employing the high-order fully actuated approach and a parametric approach,the nonlinear dynamics of the SGGP are recast into a constant linear closed-loop system,ensuring that the projectile's attitude asymptotically tracks the given goal with the desired eigenstructure.Under the proposed composite control framework,the ultimately uniformly bounded stability of the closed-loop system is rigorously demonstrated via the Lyapunov method.Validation of the effectiveness of the proposed attitude autopilot design is provided through extensive numerical simulations.展开更多
Hydraulic servo system plays an important role in industrial fields due to the advantages of high response,small size-to-power ratio and large driving force.However,inherent nonlinear behaviors and modeling uncertaint...Hydraulic servo system plays an important role in industrial fields due to the advantages of high response,small size-to-power ratio and large driving force.However,inherent nonlinear behaviors and modeling uncertainties are the main obstacles for hydraulic servo system to achieve high tracking perfor-mance.To deal with these difficulties,this paper presents a backstepping sliding mode controller to improve the dynamic tracking performance and anti-interfer-ence ability.For this purpose,the nonlinear dynamic model is firstly established,where the nonlinear behaviors and modeling uncertainties are lumped as one term.Then,the extended state observer is introduced to estimate the lumped distur-bance.The system stability is proved by using the Lyapunov stability theorem.Finally,comparative simulation and experimental are conducted on a hydraulic servo system platform to verify the efficiency of the proposed control scheme.展开更多
基金supported in part by the National Natural Science Foundation of China(61573077,U1808205)the National Key Research and Development Program of China(2017YFA0700300)
文摘In this paper,we investigate formation tracking control of autonomous underwater vehicles(AUVs)with model parameter uncertainties and external disturbances.The external disturbances due to the wind,waves,and ocean currents are combined with the model parameter uncertainties as a compound disturbance.Then a disturbance observer(DO)is introduced to estimate the compound disturbance,which can be achieved within a finite time independent of the initial estimation error.Based on a DO,a novel fixed-time sliding control scheme is developed,by which the follower vehicle can track the leader vehicle with all the states globally stabilized within a given settling time.The effectiveness and performance of the method are demonstrated by numerical simulations.
基金supported by National Natural Science Foundationof China (Nos.61074011 and 60904023)
文摘This paper is concerned with the stabilization problem for a class of nonlinear systems with disturbance. The disturbance model is unknown and the first derivative of disturbance is bounded. Firstly, a general disturbance observer is proposed to estimate disturbance approximatively. Secondly, since the bound of the disturbance observer error is unknown, an adaptive sliding mode controller is designed to guarantee that the state of system asymptotically converges to zero and the unknown bound can be adjusted by an adaptive law. Finally, an example is given to illustrate the effectiveness of the proposed method.
文摘Permanent magnet synchronous motor(PMSM)has been widely used in position control applications.Its performance is not satisfactory due to internal uncertainties and external load disturbances.To enhance the control performance of PMSM systems,a new method that has fast response and good robustness is proposed in this study.First,a modified integral terminal sliding mode controller is developed,which has a fast-sliding surface and a continuous reaching law.Then,an extended state observer is applied to measure the internal and external disturbances.Therefore,the disturbances can be compensated for in a feedforward manner.Compared with other sliding mode methods,the proposed method has faster response and better robustness against system disturbances.In addition,the position tracking error can converge to zero in a finite time.Simulation and experimental results reveal that the proposed control method has fast response and good robustness,and enables high-precision control.
基金supported in part by the National Natural Science Foundation of China under Grant 51507188Doctoral Research Startup Foundation of Hubei University of Technology under Grant XJ2021000302。
文摘The research on high-performance vector control of permanent magnet synchronous motor(PMSM)drive system plays an extremely important role in electrical drive system.To further improve the speed control performance of the system,a fast non-singular end sliding mode(FNTSM)surface function based on traditional NTSM control is developed.The theoretical analysis proves that the FNTSM surface function has a faster dynamic response and more finite-time convergence.In addition,for the self-vibration problem caused by high sliding mode switching gain,an FNTSM control method with anti-disturbance capability was designed based on the linear disturbance observer(DO),i.e.the FNTSMDO method was employed to devise the PMSM speed regulator.The comparative simulation and experiment results with traditional PI control and NTSM control methods indicate that the FNTSMDO method could improve the dynamic performance and anti-interference of the system.
基金supported by the National Natural Science Foundation of China(61573184)the Specialized Research Fund for the Doctoral Program of Higher Education(20133218110013)+1 种基金the Six Talents Peak Project of Jainism Province(2012-XRAY-010)the Fundamental Research Funds for theCentral Universities(NE2016101)
文摘In this paper,a robust tracking control scheme based on nonlinear disturbance observer is developed for the self-balancing mobile robot with external unknown disturbances.A desired velocity control law is firstly designed using the Lyapunov analysis method and the arctan function.To improve the tracking control performance,a nonlinear disturbance observer is developed to estimate the unknown disturbance of the self-balancing mobile robot.Using the output of the designed disturbance observer,the robust tracking control scheme is presented employing the sliding mode method for the selfbalancing mobile robot.Numerical simulation results further demonstrate the effectiveness of the proposed robust tracking control scheme for the self-balancing mobile robot subject to external unknown disturbances.
基金Project(2012(PS-2012-090))supported by the Pukyong National University Research Abroad Fund,Korea
文摘This work proposes a new strategy to improve the rotor position estimation of a permanent magnet synchronous motor(PMSM) over wide speed range. Rotor position estimation of a PMSM is performed by using sliding mode observer(SMO). An adaptive observer gain was designed based on Lyapunov function and applied to solve the chattering problem caused by the discontinuous function of the SMO in the wide speed range. The cascade low-pass filter(LPF) with variable cut-off frequency was proposed to reduce the chattering problem and to attenuate the filtering capability of the SMO. In addition, the phase shift caused by the filter was counterbalanced by applying the variable phase delay compensation for the whole speed area. High accuracy estimation result of the rotor position was obtained in the experiment by applying the proposed estimation strategy.
基金National Natural Science Foundation of China(No.1461023)Gansu Provincial Education Department Project(No.2016B-036)Changjiang Scholars and Innovative Research Team(No.RT_16R36)
文摘In view of the variation of system parameters and external load disturbance affecting the high-performance control of permanent magnet synchronous motor(PMSM),a fractional order integral sliding mode control(FOISMC)strategy is developed for PMSM drive system by means of fractional order sliding mode observer(FOSMO).Based on FOISMC technology,a fractional order integral sliding mode regulator(FOISM-based regulator)is designed,and a global integral sliding mode surface design method is presented,which can guarantee the global robustness of the system.Combining fractional order theory and sliding mode control theory,the FOSMO is constructed to achieve better identification accuracy of the speed and rotor position.Meanwhile the sliding mode load observer is used to observe the load torque in real time,and the observed value is transmitted to speed regulator to improve the capability of accommodating the challenge of load disturbance.Simulation results validate the feasibility and effectiveness of the proposed scheme.
基金the National Natural Science Foundation of China(Grant No.12072090).
文摘This paper investigates interception missiles’trajectory tracking guidance problem under wind field and external disturbances in the boost phase.Indeed,the velocity control in such trajectory tracking guidance systems of missiles is challenging.As our contribution,the velocity control channel is designed to deal with the intractable velocity problem and improve tracking accuracy.The global prescribed performance function,which guarantees the tracking error within the set range and the global convergence of the tracking guidance system,is first proposed based on the traditional PPF.Then,a tracking guidance strategy is derived using the integral sliding mode control techniques to make the sliding manifold and tracking errors converge to zero and avoid singularities.Meanwhile,an improved switching control law is introduced into the designed tracking guidance algorithm to deal with the chattering problem.A back propagation neural network(BPNN)extended state observer(BPNNESO)is employed in the inner loop to identify disturbances.The obtained results indicate that the proposed tracking guidance approach achieves the trajectory tracking guidance objective without and with disturbances and outperforms the existing tracking guidance schemes with the lowest tracking errors,convergence times,and overshoots.
基金supported by the National Natural Science Foundation of China (Grant Nos. 61573008 and 61973199)the Post-Doctoral Applied Research Projects of Qingdao (Grant No. 2015122)。
文摘An adaptive sliding mode control(ASMC) method, based on fractional-order disturbance-observer(FODOB), is presented for a class of fractional-order nonlinear time-delay systems(FONTDS) with uncertainties to solve the target output tracking problem.The external disturbances are estimated by FODOB, and the unknown internal perturbations of the system are adaptively estimated by sliding mode control(SMC). Furthermore, Gronwall's inequality approach is used to ensure that the output tracking error is uniformly bounded for FONTDS. Firstly, a fractional-order sliding mode control(FOSMC) based FODOB is proposed for a fractional-order linear time-delay system(FOLTDS). Secondly, combined with adaptive estimation, the ASMC of FONTDS is studied. Finally, a numerical example of FONTDS is used to verify the effectiveness of the proposed methods.
文摘In this paper,a grid voltage sensorless model predictive control is proposed and verified by simulation and experimental tests for a PWM rectifier.The presented method is simple and cost effective due to no need of modulator and voltage sensors.The developed sliding mode voltage observer(SMVO)can theoretically track the grid voltage accurately without phase lag and magnitude error.Based on the proposed SMVO,the finite control set-model predictive control(FCS-MPC)is incorporated for power regulation.The active power and reactive power are calculated and predicted using the measured current and the estimated grid voltage from the SMVO.With the predicated power for one-step delay compensation,the best voltage vector minimizing the tracking error is selected by FCS-MPC.The whole algorithm is implemented in stationary frame without using Park's transformation.Both the simulation and experimental results validate the effectiveness of the proposed method.
基金supported by Naval Weapons and Equipment Pre-Research Project(Grant No.3020801010105).
文摘Based on fuzzy adaptive and dynamic surface(FADS),an integrated guidance and control(IGC)approach was proposed for large caliber naval gun guided projectile,which was robust to target maneuver,canard dynamic characteristics,and multiple constraints,such as impact angle,limited measurement of line of sight(LOS)angle rate and nonlinear saturation of canard deflection.Initially,a strict feedback cascade model of IGC in longitudinal plane was established,and extended state observer(ESO)was designed to estimate LOS angle rate and uncertain disturbances with unknown boundary inside and outside of system,including aerodynamic parameters perturbation,target maneuver and model errors.Secondly,aiming at zeroing LOS angle tracking error and LOS angle rate in finite time,a nonsingular terminal sliding mode(NTSM)was designed with adaptive exponential reaching law.Furthermore,combining with dynamic surface,which prevented the complex differential of virtual control laws,the fuzzy adaptive systems were designed to approximate observation errors of uncertain disturbances and to reduce chatter of control law.Finally,the adaptive Nussbaum gain function was introduced to compensate nonlinear saturation of canard deflection.The LOS angle tracking error and LOS angle rate were convergent in finite time and whole system states were uniform ultimately bounded,rigorously proven by Lyapunov stability theory.Hardware-in-the-loop simulation(HILS)and digital simulation experiments both showed FADS provided guided projectile with good guidance performance while striking targets with different maneuvering forms.
基金supported by the National Natural Science Foundation of China(No.51876089)the Open Foundation of the State Key Laboratory of Fluid Power and Mechatronic Systems,China(No.GZKF-202005)。
文摘In this paper,an intelligent fractional-order integral sliding mode control(FOISMC)strategy based on an improved cascade observer is proposed.First,an FOISMC strategy is designed to control a permanent magnet synchronous motor.It has good tracking performance,is strongly robust,and can effectively reduce chattering.The proposed FOISMC strategy associates strong points of the integral action(which can eliminate steady-state tracking errors)and the fractional calculus(which is flexible).Second,an improved cascade observer is proposed to detect the rotor information with a smaller observation error.The proposed observer combines an adaptive sliding mode observer and an extended high-gain observer.In addition,an improved variable-speed grey wolf optimization algorithm is designed to enhance controller parameters.The effectiveness of the strategy is tested using simulations and an experiment involving model uncertainty and external disturbance.
基金supported by the National Natural Science Foundation of China(Grant Nos.52272358 and 62103052)。
文摘This paper investigates the design of an attitude autopilot for a dual-channel controlled spinning glideguided projectile(SGGP),addressing model uncertainties and external disturbances.Based on fixed-time stable theory,a disturbance observer with integral sliding mode and adaptive techniques is proposed to mitigate total disturbance effects,irrespective of initial conditions.By introducing an error integral signal,the dynamics of the SGGP are transformed into two separate second-order fully actuated systems.Subsequently,employing the high-order fully actuated approach and a parametric approach,the nonlinear dynamics of the SGGP are recast into a constant linear closed-loop system,ensuring that the projectile's attitude asymptotically tracks the given goal with the desired eigenstructure.Under the proposed composite control framework,the ultimately uniformly bounded stability of the closed-loop system is rigorously demonstrated via the Lyapunov method.Validation of the effectiveness of the proposed attitude autopilot design is provided through extensive numerical simulations.
基金Thework issupportedby the Key Scienceand Technology Programof Henan Province(Grant No.222102220104)the Science and Technology Key Project Foundation of Henan Provincial Education Department(Grant No.23A460014)the High Level Talent Foundation of Henan University of Technology(Grant No.2020BS043).
文摘Hydraulic servo system plays an important role in industrial fields due to the advantages of high response,small size-to-power ratio and large driving force.However,inherent nonlinear behaviors and modeling uncertainties are the main obstacles for hydraulic servo system to achieve high tracking perfor-mance.To deal with these difficulties,this paper presents a backstepping sliding mode controller to improve the dynamic tracking performance and anti-interfer-ence ability.For this purpose,the nonlinear dynamic model is firstly established,where the nonlinear behaviors and modeling uncertainties are lumped as one term.Then,the extended state observer is introduced to estimate the lumped distur-bance.The system stability is proved by using the Lyapunov stability theorem.Finally,comparative simulation and experimental are conducted on a hydraulic servo system platform to verify the efficiency of the proposed control scheme.
