Output feedback model predictive control of hydraulic systems with disturbances compensation

被引：43
|
作者：
Gu, Weiwei [1 ]
Yao, Jianyong [1 ]
Yao, Zhikai [1 ]
Zheng, Jingzhong [1 ]
机构：
[1] Nanjing Univ Sci & Technol, Sch Mech Engn, Nanjing 210094, Jiangsu, Peoples R China
来源：
ISA TRANSACTIONS | 2019年 / 88卷
基金：
中国国家自然科学基金;
关键词：
Model predictive control (MPC); Hydraulic systems; Output feedback; Extended state observer (ESO); ADAPTIVE ROBUST-CONTROL; MOTION CONTROL; ACTUATORS; DESIGN;
D O I：
10.1016/j.isatra.2018.12.007
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Enhancing the robustness of output feedback control has always been an important issue in hydraulic servo systems. In this paper, an output feedback model predictive controller (MPC) with the integration of an extended state observer (ESO) is proposed for hydraulic systems. The ESO was designed to estimate not only the unmeasured system states but also the disturbances, which will be synthesized into the design of the output prediction equation. Based on the mechanism of receding horizon and repeating optimization of MPC, the output prediction equation will be updated in real time and the future behavior of the system will be accurately predicted since the disturbances are compensated effectively. Hence, the ability of the traditional MPC to suppress disturbances will be improved evidently. The experiment results show that the proposed controller has high-performance nature and strong robustness against various model uncertainties, which verifies the effectiveness of the proposed control strategy. (C) 2018 ISA. Published by Elsevier Ltd. All rights reserved.
引用
收藏
页码：216 / 224
页数：9
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