Adaptive dynamic surface control using nonlinear disturbance observers for position tracking of electro-hydraulic servo systems

被引：20

作者：

Sa, Yunjie ^{[1
]}

Zhu, Zhencai ^{[1
]}

Tang, Yu ^{[1
]}

Li, Xiang ^{[1
]}

Shen, Gang ^{[1
]}

机构：

[1] China Univ Min & Technol, Sch Mech & Elect Engn, Jiangsu Key Lab Mine Mech & Elect Equipment, Xuzhou 221116, Jiangsu, Peoples R China

来源：

PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING | 2022年 / 236卷 / 03期

基金：

中国国家自然科学基金;

关键词：

Electro-hydraulic servo system; position tracking; dynamic surface control; nonlinear disturbance observer; adaptive control; disturbance rejection; SLIDING MODE CONTROL; ROBOTIC MANIPULATORS; DESIGN;

D O I：

10.1177/09596518211037096

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this article, an adaptive dynamic surface control method with nonlinear disturbance observers is proposed for accurate position tracking of an electro-hydraulic servo system with unknown time-varying inner or external disturbances. The dynamic surface control approach adopted in the proposed controller is used to ameliorate the inherent complexity differentiation explosion of traditional backstepping method, which significantly simplifies the controller design process. The designed nonlinear disturbance observers are exploited to online estimate the inner or external disturbances of electro-hydraulic servo systems, and the performance degradation resulted from unknown time-varying disturbances is effectively suppressed. To further compensate for the system's time-varying uncertain parameters, parameter adaptive updating laws are designed and combined in the proposed controller for accurate position tracking of electro-hydraulic servo systems. The closed-loop stability of the proposed controller is theoretically guaranteed by rigorous Lyapunov analysis. Comparative experimental results are carried out on a typical single-degree-of-freedom electro-hydraulic servo system, and the feasibility together with the superiority of the proposed controller is experimentally validated.

引用

页码：634 / 653

页数：20

共 33 条

[11]

Hippalgaonkar R., 2012, Proceedings of the 8th International Fluid Power Conference (IFK) Dresden, V2, P139

[12] An adaptive control approach for semi-active suspension systems under unknown road disturbance input using hardware-in-the-loop simulation [J].