Disturbance observer–based adaptive integral sliding mode control for the hybrid automobile electro-coating conveying mechanism

Abstract

This article seeks to achieve high tracking performance of the hybrid automobile electro-coating conveying mechanism with disturbances and uncertainties. An integral sliding mode control scheme is first presented to eliminate the reaching phase in sliding mode control. Then, an adaptive integral sliding mode controller is designed without knowing the disturbance information. Finally, a composite strategy, referred to as nonlinear disturbance observer (NDO)-based adaptive integral sliding model control, is put forward to further reduce the switching gain. By compensating the lumped disturbances via a NDO, the switching gain is only required to be higher than upper bound of the disturbance estimation error which is much smaller than actual disturbance. The results of both numerical simulations and experiments show that the proposed approach has good control performance especially in reducing the switching gain and alleviating the chattering problem.