Nonsingular Fast Terminal Sliding Mode Control with Extended State Observer and Disturbance Compensation for Position Tracking of Electric Cylinder

摘要

The position tracking problem of the electric cylinder, which has internal perturbation, external disturbance, and measurement noise of the output, is studied in this paper. A control method is proposed for achieving high tracking accuracy and tracking velocity for the wheel-legged robot application. Nonsingular fast terminal sliding mode (NFTSM) control is investigated to ensure that the system output can track the reference input in finite time. Besides, extended state observer (ESO) of the active disturbance rejection control (ADRC) is used to estimate the system lumped perturbation and compensated it in the controller based on the terminal sliding mode. This greatly reduces the chattering of the system caused by the gain of the sliding mode switch. Furthermore, tracking differentiator is designed to attenuate the output measurement noise. Simulation and experimental results illustrate that the NFTSM with ESO and TD algorithm, which is presented in this paper, has obvious superiority in the tracking precision and the antijam ability.