Abstract:

Aiming at the tracking control problem of flight simulator servo systems, a backstepping global sliding mode control scheme based on nonlinear disturbance observer (NDO) is proposed. In the controller design, the NDO is employed to observe the parameters uncertainties and nonlinear friction disturbance of the system. The observer error is guaranteed to be exponential convergence by suitably choosing the deisgn parameters. A backstepping global sliding mode controller is designed for the system with NDO, and the proposed control scheme can guarantee the stabilization of the closedloop system. Simulation results demonstrate that the control scheme can effectively overcome the parameters uncertainties and nonlinear friction disturbance, achieve the precision position tracking performance and eliminate the chattering.