Extend Disturbance Observer of Backlash-Based Robust Sliding-Mode Control

doi:10.1155/2021/8782813

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	Extend Disturbance Observer of Backlash-Based Robust Sliding-Mode Control
	W. Wang; D. Mao and B. Li
刊名	Mathematical Problems in Engineering
	2021
卷号	2021
ISSN号	1024123X
DOI	10.1155/2021/8782813
英文摘要	The backlash by the hysteresis between the input and the output is always present in the inertial stabilized platform, which will seriously affect the dynamic performance of the platform system at low speed. So, the backlash has been paid more and more attention for the use in the inertial stabilized platform. To handle such a situation, extend disturbance observer (EDOB) has a high advantage to compensate the disturbance caused by backlash. However, some research studies show that the observation effect for some fast time-varying disturbances is satisfactory, which will strict limits on the rate of change in disturbance and still hamper its application; consequently, this paper proposes a sliding-mode-based extend disturbance observer (SMEDO) to compensate backlash. By well-designed sliding-mode surface, it is unnecessary to measure the whole state and the lack of robustness against unmatched uncertainties of the resulting controller, and the robustness and accuracy of modified disturbance observer can be enhanced. Experiments were carried out on a DSP-based platform with backlash in the pitch shafting. The obtained experimental results demonstrate that the SMEDO scheme has an improved performance with the dynamic performance and shafting transmission accuracy compared with the traditional methods. 2021 Weixing Wang et al.
URL标识	查看原文
内容类型	期刊论文
源URL	[http://ir.ciomp.ac.cn/handle/181722/65237]
专题	中国科学院长春光学精密机械与物理研究所
推荐引用方式 GB/T 7714	W. Wang,D. Mao and B. Li. Extend Disturbance Observer of Backlash-Based Robust Sliding-Mode Control[J]. Mathematical Problems in Engineering,2021,2021.
APA	W. Wang,&D. Mao and B. Li.(2021).Extend Disturbance Observer of Backlash-Based Robust Sliding-Mode Control.Mathematical Problems in Engineering,2021.
MLA	W. Wang,et al."Extend Disturbance Observer of Backlash-Based Robust Sliding-Mode Control".Mathematical Problems in Engineering 2021(2021).