Global terminal sliding-mode finite-time rotary control of hydraulic roofbolter based on an adaptive observer
In the process of coal mine roadway support,the rotary system of hydraulic roofbolter exhibits significant nonlinear characteristics such as dead zone,time-varying parameters,as well as internal and external disturbances,leading to challenges such as low accuracy,slow response speed,and overshoot in speed tracking control.As a result,achieving high-quality and efficient support operations becomes challenging.To address these issues and enhance the automation,safety,and reliability of roadway support,it is crucial to design an effective control method.Therefore,this paper proposes a global terminal sliding-mode finite-time control method based on an adaptive observer.Firstly,based on tracking error,an adaptive extended state observer is designed,which can dynamically adjust the estimation gains to respond to the system's dynamics in real-time,thereby improving disturbance estimation and system tracking performance,effectively overcoming the nonlinear characteristics and improving dynamic performance.Secondly,a novel global terminal sliding-mode surface is constructed by integrating tracking error and estimation error employing a designed fast,smooth,and continuous convergence function.On the basis of this,a global terminal sliding-mode control law is proposed based on the Lyapunov method to enhance the steady-state performance.Subsequently,the disturbance estimated by the observer is compensated in the sliding-mode control law,forming the proposed controller.Finally,the finite-time stability of the rotary system is proven based on Lyapunov stability theory.The effectiveness of the proposed method is verified through comparative experiments.
hydraulic roofboltersliding-mode controlextended state observerfinite-time stabilityconvergence function
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