Abstract
Abstract In this paper, a disturbance-compensated robust controller was used for electrohydraulic missile launchers with the aim of improving the motion accuracy of the system. In the case of both matched and unmatched disturbances, adaptive extended state observers were employed in order to estimate unmodelled disturbances, external disturbances, and so forth. It was thus resolved to implement a feedforward compensation mechanism in order to counteract the effects of unknown disturbances, based on online estimates of the disturbances with the intention of enhancing the performance of the proposed controller. In addition, in order to address the problems of difficulty in obtaining the differential value of the virtual control law and “Curse of Dimensionality”, an improved first-order sliding-mode differentiator (IFOSMD) was employed. The theoretical analysis demonstrated the stability of the multi-observer and the closed-loop system under the proposed control scheme. The efficacy of the controller was demonstrated through the utilisation of numerical simulations.
Published Version
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