For achieving high-performance control of hydraulic actuator systems, an adaptive sliding mode control with disturbance estimation algorithm is proposed and successfully applied to the hydraulic actuator systems of rock drilling jumbo. A switching extended state observer for hydraulic actuator systems is proposed, which combines the advantages of the linear extended state observer and the nonlinear extended state observer to estimate system disturbances more efficiently. The designed parameter adaptive law provides adaptivity to the system parameters, while the disturbance estimation algorithm can online estimate the unknown disturbances, such integration can enhance the adaptability and robustness of the sliding mode control algorithm. Rigorous simulation tests and practical application experiments are conducted to evaluate the performance of the proposed controller. The reliability of the designed parameter adaptive law and switching extended state observer is validated in detail in simulation studies. In the application experiments of rock drill jumbo, the results indicate the proposed controller is superior to sliding mode control with disturbance estimation and PID control. The average error of the developed controller is reduced by 58 %, 54 %, and 56 % compared to the sliding mode control with disturbance estimation controller, and 82 %, 78 %, and 79 % compared to the PID controller in tracking the low-frequency, high-frequency, and superimposed sinusoidal signals, respectively. Moreover, both the convergence of the uncertain parameters and the estimation of the unknown disturbances in the experiments are satisfactory. These experimental results adequately demonstrate the practical application value of the proposed controller.

中文翻译：

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具有扰动估计的自适应滑模控制用于液压执行器系统及其在凿岩台车上的应用


为了实现液压执行机构系统的高性能控制，提出了一种带有扰动估计算法的自适应滑模控制，并成功应用于凿岩台车液压执行机构系统。提出了一种用于液压执行器系统的切换扩展状态观测器，它结合了线性扩展状态观测器和非线性扩展状态观测器的优点，可以更有效地估计系统扰动。设计的参数自适应律提供了对系统参数的自适应性，而扰动估计算法可以在线估计未知的扰动，这样的结合可以增强滑模控制算法的适应性和鲁棒性。进行了严格的仿真测试和实际应用实验来评估所提出的控制器的性能。所设计的参数自适应律和切换扩展状态观测器的可靠性在仿真研究中得到了详细验证。在凿岩台车的应用实验中，结果表明该控制器优于扰动估计和PID控制的滑模控制。与带扰动估计控制器的滑模控制相比，所开发控制器的平均误差降低了 58 %、54 % 和 56 %，与跟踪低速的 PID 控制器相比，平均误差降低了 82 %、78 % 和 79 %。分别是频率、高频和叠加的正弦信号。此外，实验中不确定参数的收敛性和未知扰动的估计都令人满意。这些实验结果充分证明了所提出的控制器的实际应用价值。