Backstepping sliding mode control based on nonlinear disturbance observer for position tracking of articulated steering system

Le résumé fourni par la source

Abstract Steer-by-wire systems are a critical foundation for unmanned construction machinery. In wheeled construction machinery, the articulated hydraulic steering system exhibits inherent nonlinearities, parametric uncertainties, and modeling inaccuracies, which pose challenges to achieving high-precision steering position tracking. To address these issues, this paper proposes a backstepping sliding mode control strategy integrated with a nonlinear disturbance observer (NDO) for a closed-circuit pump direct-drive electrohydraulic steering system in a wheel loader. First, the dynamic model of this system is derived. Then, a robust controller is developed within the backstepping framework, in which the NDO is employed to estimate unmeasured states and uncertainties. Theoretical analysis demonstrates that the proposed control method ensures asymptotic stability of the overall closed-loop system. Finally, experimental validation on a real wheel loader shows that the tracking accuracy is improved by 43.6%, 50.18%, and 52.67% under pivot steering, driving steering, and V-shaped working conditions, respectively, compared to the method without the NDO.

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