ESO-based Sliding Mode Controller with A Novel Reaching Law for Cable Arrangement System

To improve the adaptability of the cable arrangement mechanism of a winch and ensure the neat arrangement of the cable on the drum with different disturbances and uncertainties, a nonlinear speed tracking controller NSMC-ESO based on sliding mode control with a novel approaching law (NSMC) and extended state control (ESO) is proposed in this paper. The stability and convergence of the whole system are proved by the Lyapunov stability theory and verified by simulation experiments. Simulation results show that the NSMC-ESO controller has high tracking performance and strong robustness against external disturbance and system uncertainty.