Adaptive Third-Order Fixed Time Sliding Mode Control with Chattering Free for Mobile Loading Arm Systems

The mobile loading arm (MLA) system is one of the most important mechanical equipments in the petrochemical industry consisting of rigid pipelines and rotating elbows. This paper researches the problems of dynamical modelling and tracking control. At first, an MLA dynamic model is built by using Euler-Lagrange function. And then, an adaptive third-order fixed time sliding mode (FDTSM) tracking controller with chattering free is represented, which enables the MLA system to dock with the vehicle tank mouth. In this paper, a new double-layer third-order fixed time sliding mode controller is first proposed to address the tracking problem in model-based MLA systems with known parameters. Moreover, considering the presence of modeling uncertainty and external disturbances, a nerual network adaptive FDTSM controller is designed to ensure that the close-loop system state tracking error converges to a bounded region around zero within a fixed time. Further, the stability of the close-loop system is proven by using the Lyapunov stability theorem. Simulation results illustrate the validaty of the controller.