부산대학교 도서관

An adaptive higher order sliding mode controller based on a novel finite-time extended state observer is designed for rotational shell magazine position tracking control. The design of observer does not need to use the eigenvalue of a specific matrix and thus the observer design can be greatly simplified. Based on the observer, the controller does not rely on the bound of disturbance. The values of controller gains could be reduced and chattering will be restrained. Observation error and tracking error are both finite-time stable. The close-loop stability has been proven via Lyapunov theory. Simulation and experiment results show that compared with twisting controller and proportional-integral controller, the proposed scheme can reduce the overshoot, weaken the chattering and reach the steady state faster in the presence of time-varying disturbance, parameter uncertainties and measurement noise.