Disturbance Observer Based Adaptive Fuzzy Sliding Mode Controller for Cable Arrangement System

被引：0
作者：
Li, Xiufeng [1 ]
Ma, Ling [1 ]
机构：
[1] China Ship Sci Res Ctr, State Key Lab Deep Sea Manned Vehicles, Wuxi, Jiangsu, Peoples R China
来源：
PROCEEDINGS OF THE 2021 IEEE 16TH CONFERENCE ON INDUSTRIAL ELECTRONICS AND APPLICATIONS (ICIEA 2021) | 2021年
关键词：
disturbance observer; adaptive control; fuzzy control; sliding mode control; cable arrangement system; SPEED;
D O I：
10.1109/ICIEA51954.2021.9516075
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
To improve the adaptability of the cable arrangement mechanism of an electrical winch and ensure the neat arrangement of the cable on the drum with different disturbances and uncertainties, a nonlinear speed tracking controller AFSMC-DBO based on adaptive fuzzy sliding mode control (AFSMC) and disturbance observer (DBO) is proposed in this paper. The stability and convergence of the whole system are proved by the Lyapunov stability theory and verified by simulation experiments. Simulation results show that the AFSMC-DBO controller has high tracking performance and strong robustness against external disturbance and system uncertainty.
引用
收藏
页码：160 / 165
页数：6
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