Improved Nonlinear Extended State Observer-Based Sliding-Mode Rotary Control for the Rotation System of a Hydraulic Roofbolter

Abstract

This paper develops a sliding-mode control with an improved nonlinear extended state observer (SMC-INESO) for the rotation system of a hydraulic roofbolter with dead-zones, uncertain gain, and disturbances, with the purpose of improving tracking performance. Firstly, the rotation system is modeled to compensate for dead-zone nonlinearity. Then, we present an improved nonlinear extended state observer to estimate disturbances of the rotation system in real time. Moreover, a proportional-integral-differential sliding-mode surface is introduced and an improved sliding-mode reaching law is designed. Based on this, a sliding-mode control law is developed. In order to eliminate the influence of estimation error and uncertain gain, we design two adaptation laws based on the sliding-mode surface and the estimated states. Finally, the effectiveness of the proposed SMC-INESO is verified through comparative simulation studies.

Keywords

• extended state observer
• sliding-mode surface
• sliding-mode reaching law
• sliding-mode control law
• adaptation law