Disturbance observer–based backstepping sliding mode cascade control of 2–degrees of freedom hydraulic tunneling robot
Guotai Zhang,
Gang Shen,
Yu Tang
et al.
Abstract:For the 2–degrees of freedom position tracking problem of the robotized hydraulic-driven roadheader with high nonlinearities and strong uncertainties, a practical disturbance observer–based backstepping sliding cascade control method together with an adaptive compensator is proposed and investigated. The presented methodology mainly includes a continuous nonsingular fast terminal sliding mode with the backstepping technique and the power reaching law with time-varying coefficients used to achieve satisfactory … Show more
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