کنفرانس مهندسی برق ایران

صفحه اصلی / سی و چهارمین کنفرانس بین المللی مهندسی برق

Design and Implementation of an Extended State Observer-based Fixed-Time Sliding Mode Controller for a Road Profile Simulator

نویسندگان :

Mohammadreza Zebardast Chavan¹ Mehdi Mirzaei² Sadra Rafatnia³ Ahmad Sabetghadam Alvar⁴

1- دانشگاه صنعتی سهند تبریز 2- دانشگاه صنعتی سهند تبریز 3- دانشگاه صنعتی سهند تبریز 4- دانشگاه صنعتی سهند تبریز

کلمات کلیدی :

Fixed-time Sliding Mode Controller،Extended State Observer،Electrical Actuator،Road Input Simulator،Fixed-Time Convergence

چکیده :

This paper presents the design and practical implementation of a fixed-time sliding mode controller (FTSMC) for generating road excitation in a simulator with an electric actuator. To this end, a dynamic model of the platform is first developed. All perturbations in this model are aggregated into an augmented state. An extended state observer (ESO) is then utilized to simultaneously estimate the system state and perturbations based on output measurements. The bounded-input, bounded-output (BIBO) stability of this observer is established through mathematical analysis. Subsequently, an FTSMC is designed using the estimated states to track the desired road profile. The fixed-time stability of the overall closed-loop system is verified using the direct Lyapunov method. The performance of the composite controller is then tested and evaluated under real-world operating conditions. Practical results demonstrate the controller's desirable performance in accurately tracking the desired road profile with fixed-time convergence.