Disturbance Observer Based Adaptive Fuzzy Sliding Mode Controller for Cable Arrangement System

Abstract

To improve the adaptability of the cable arrangement mechanism of an electrical winch and ensure the neat arrangement of the cable on the drum with different disturbances and uncertainties, a nonlinear speed tracking controller AFSMC-DBO based on adaptive fuzzy sliding mode control (AFSMC) and disturbance observer (DBO) is proposed in this paper. The stability and convergence of the whole system are proved by the Lyapunov stability theory and verified by simulation experiments. Simulation results show that the AFSMC-DBO controller has high tracking performance and strong robustness against external disturbance and system uncertainty.