Finite-Time Output Feedback Control for a Rigid Hydraulic Manipulator System

被引：2

作者：

Hao, Yong-Sheng ^{[1
]}

Su, Zhi-Gang ^{[1
]}

Wang, Xiangyu ^{[2
,3
]}

机构：

[1] Southeast Univ, Sch Energy & Environm, Nanjing 210096, Jiangsu, Peoples R China

[2] Southeast Univ, Sch Automat, Nanjing 210096, Jiangsu, Peoples R China

[3] Minist Educ, Key Lab Measurement & Control Complex Syst Engn, Nanjing 210096, Jiangsu, Peoples R China

来源：

MATHEMATICAL PROBLEMS IN ENGINEERING | 2018年 / 2018卷

基金：

中国国家自然科学基金;

关键词：

ELECTROHYDRAULIC ACTUATOR; STABILIZATION; DESIGN;

D O I：

10.1155/2018/9316562

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

The position tracking control problem of a hydraulic manipulator system is investigated. By utilizing homogeneity theory, a finite-time output feedback controller is designed. Firstly, a finite-time state feedback controller is developed based on homogeneity theory. Secondly, a nonlinear state observer is designed to estimate the manipulator's velocity. A rigorous analysis process is presented to demonstrate the observer's finite-time stability. Finally, the corresponding output feedback tracking controller is derived, which stabilizes the tracking error system in finite time. Simulations demonstrate the effectiveness of the designed finite-time output feedback controller.

引用

页数：9

共 30 条

[1] Continuous-Discrete Time-Observer Design for State and Disturbance Estimation of Electro-Hydraulic Actuator Systems [J].

Ali, Sofiane Ahmed ;

Christen, Arnaud ;

Begg, Steven ;

Langlois, Nicolas .

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2016, 63 (07) :4314-4324

[2]

[Anonymous], 2004, MASS

[3]

Avila MA, 2004, P AMER CONTR CONF, P2603

[4]

Azlan NZ, 2006, IEEE ST CONF RES DEV, P136

[5] Finite-time stability of continuous autonomous systems [J].

Bhat, SP ;

Bernstein, DS .

SIAM JOURNAL ON CONTROL AND OPTIMIZATION, 2000, 38 (03) :751-766

[6] Geometric homogeneity with applications to finite-time stability [J].

Bhat, SP ;

Bernstein, DS .

MATHEMATICS OF CONTROL SIGNALS AND SYSTEMS, 2005, 17 (02) :101-127

[7]

DANDREANOVEL B, 1994, 1994 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS - HUMANS, INFORMATION AND TECHNOLOGY, VOLS 1-3, P1932, DOI 10.1109/ICSMC.1994.400134

[8] Recursive design of finite-time convergent observers for a class of time-varying nonlinear systems [J].

Du, Haibo ;

Qian, Chunjiang ;

Yang, Shizhong ;

Li, Shihua .

AUTOMATICA, 2013, 49 (02) :601-609

[9]

Edge K. A., 1995, Proceedings of the Institution of Mechanical Engineers, Part I (Journal of Systems and Control Engineering), V209, P191, DOI 10.1243/PIME_PROC_1995_209_383_02

[10]

Edge K. A., 1995, P I MECH ENG 1, V209, P197

← 1 2 3 →