Qijing Qin∗,∗∗,∗∗∗ Ziming Kou∗,∗∗,∗∗∗ Guijun Gao∗,∗∗,∗∗∗ and Xiangyang Ye∗,∗∗,∗∗∗
Distributed drive electric monorail crane (DDEMC), cooperative Steering, continuous fast terminal sliding mode control (SMC), extended state observer
In this study, a cooperative steering control strategy based on continuous fast terminal sliding mode control algorithm is proposed to improve the steering maneuverability of the distributed drive electric monorail crane (DDEMC). A mathematical model of wheel speed distribution in the steering process is produced by taking into account the steering relationship between the two driving wheels inside and outside the vehicle as well as the dynamic features of the vehicle. With the use of an extended state observer, a continuous fast terminal sliding mode composite controller is designed that can estimate and compensate for disturbances occurring online. The capacity of the control system to attain convergence within a finite time frame is substantiated through the utilisation of Lyapunov stability theory. The results have shown that the proposed method exhibits robust anti-interference capabilities, rapid time response, effective parameter adaptability, and the capacity to significantly enhance the driving stability and tracking accuracy of DDEMC, while also facilitating enhanced steering manoeuvrability within the system.
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