Improved extended state observer-based global sliding-mode finite-time control for displacement tracking of a hydraulic roofbolter

The dead-zone nonlinearity and uncertain dynamics inevitably weaken the tracking performance of displacement system for a hydraulic roofbolter. To solve above problem, global sliding-mode controller based on reduced-order proportional-derivative-type (PD-type) extended state observer (GSMC-PDESO) is proposed. Firstly, model roofbolter built by using compensation technique to suppress effect control performance. Following that, novel that has less dimensions few gains than standard one, called PD-type observer, designed, with purpose improving estimation suppressing noise amplification. Moreover, unit mainly composed integral surface law developed, which aims improve robustness, eliminate chattering adverse impact error disturbances, as well provide an effective continuous law. By comparing proposed GSMC-PDESO ten methods, comparative experimental results verify effectiveness strategies.