Abstract
To improve the control performance of the swing angle for an anchor-hole, an extended Kalman filter-based adaptively sliding mode control with dead-zone compensator is developed, with the purpose of tracking the pre-set swing angle of an anchor-hole driller as soon as possible without steady-state error. Taking the load disturbance and the dead-zone with the uncertain parameters of a proportional reversing valve into consideration, the rotation part of an anchor-hole driller is modeled. Based on this, a dead-zone compensator is designed by introducing its smooth inverse model. Following that, an adaptively sliding mode controller is designed. Finally, extended Kalman filter is employed to predict the swing angle in the next control period, as well as filter the noises derived from the measurement of the swing angle. The experimental results show that the proposed controller has the capability of rapidly tracking the pre-set swing angle without overshoot and chattering.
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Acknowledgment
This work was supported by the National Natural Science Foundation of China under Grant 61973305, and the Future Scientists Program of China University of Mining and Technology under Grant 2020WLKXJ029.
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Zhang, Z., Guo, YN., Lu, XW., Gong, DW., Zhang, Y. (2020). Extended Kalman Filter-Based Adaptively Sliding Mode Control with Dead-Zone Compensator for an Anchor-Hole Driller. In: Zhang, H., Zhang, Z., Wu, Z., Hao, T. (eds) Neural Computing for Advanced Applications. NCAA 2020. Communications in Computer and Information Science, vol 1265. Springer, Singapore. https://doi.org/10.1007/978-981-15-7670-6_4
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DOI: https://doi.org/10.1007/978-981-15-7670-6_4
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