Design and implementation of a nonlinear robust controller based on the disturbance observer for the active spray boom suspension

Spray boom vibrations are one of the main causes uneven distribution agrochemicals. Using active suspension to maintain correct height nozzles is critical for obtaining a uniform spray pattern and minimizing possibility drift. However, electro-hydraulic pendulum has nonlinear uncertain factors such as parameter uncertainties, external disturbances, model error, etc., which complicate design controller. Therefore, this paper proposes robust feedback control method with disturbances compensation, integrates controller disturbance observers through backstepping method. Initially, verify performance controller, Lyapunov stability theory used prove that proposed can guarantee given transient final tracking accuracy. Furthermore, taking 28 m wide driven by single-rod hydraulic actuator an implementation case, NRCDC was compared variety schemes rapid prototype suspension. Finally, scheme implemented on self-propelled sprayer 12 in length. The field test results show all indicators better than other three conventional controllers. Both laboratory tests have verified effectiveness high Keywords: control, boom, suspension, system, observer DOI: 10.25165/j.ijabe.20231601.7007 Citation: Cui L F, Xue X Y, Kong W, Ding S M, Gu Le F X. Design based Int J Agric & Biol Eng, 2023; 16(1): 153–161.