Disturbance observer-based backstepping sliding mode cascade control of 2-degrees of freedom hydraulic tunneling robot

For the 2-degrees of freedom position tracking problem of the robotized hydraulic-driven roadheader with high nonlinearities and strong uncertainties, a practical disturbance observer-based backstepping sliding cascade control method together with an adaptive compensator is proposed and investigated. The presented methodology mainly includes a continuous nonsingular fast terminal sliding mode with the backstepping technique and the power reaching law with time-varying coefficients used to achieve satisfactory performance against the multi-source disturbances, two disturbance observers used to approximately estimate the unknown dynamics in the mechanical and hydraulic subsystem, respectively. Simultaneously, a continuous robustifying term is also utilized to compensate for the residual disturbances and enhance the robustness. The presented control method doesn't need the precise model thanks to the auxiliary disturbance observer, and can ensure fast convergence and small tracking error thanks to the backstepping sliding cascade control and the adaptive robust compensator. Based on Lyapunov theory, stability of the overall closed-loop system is proved rigorously, and asymptotically bounded tracking performance of the robotic manipulator is guaranteed. Finally, 2-degrees of freedom trajectory tracking experiments are conducted, and comparative results effectively verify the superiorities of the proposed method.