Adaptive sliding mode position tracking control of chain-driven rotating magazine based on disturbance observer

The polygon effect is inevitable during the movement of the chain-driven rotating magazine, and its load varies significantly throughout the loading process due to changes in the number of projectiles. The system parameters are nonlinear. Given these issues, it becomes apparent that the magazine is a complex nonlinear system that demands high control accuracy. This paper introduces an adaptive sliding mode control strategy based on a disturbance observer. The perturbation is estimated by the observer and then the estimated value is compensated to the controller. The influences of unknown parameters are weakened by the adaptive algorithm. Theoretical analysis and simulation results under various load conditions demonstrate that the control algorithm is insensitive to uncertainties, such as time-varying disturbance, unknown parameters, etc. The control can achieve a high control accuracy.