Sliding backstepping motion control for articulated steering construction machinery with nonlinear disturbance observer

Aiming at the problems of parametric uncertainties and uncertain nonlinearities in an articulated pump-controlled steering system, a sliding mode backstepping controller based on a nonlinear disturbance observer is designed. Firstly, Establishing mathematical model for the pump-controlled steering system of the pure electric wheel loader, subsequently, the design of the disturbance nonlinear observer is executed, and the backstepping robust control strategy is designed by using the backstepping method, the stability of the Lyapunov model in the engineered controller has been verified. The simulations show that the designed controller can accurately track the steering target with good tracking accuracy, robustness and interference resistance under the simultaneous existence of parameter uncertainty, unmodelled dynamics and unknown disturbances in the steering system.