An Effective Disturbance-Observer-Based Nonlinear Controller for a Pump-Controlled Hydraulic System

Ba, Dang Xuan; Dinh, Truong Quang; Bae, Joonbum; Ahn, Kyoung Kwan

doi:10.1109/tmech.2019.2946871

Cited by 64 publications

(39 citation statements)

References 38 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The system is a passivity model with bounded time-derivative states [19,22,37]. Robot joints are furthermore limited in physical ranges:…”

Section: Remarkmentioning

confidence: 99%

“…Content may change prior to final publication. [37], the disturbance observer (21) demonstrated excellent learning efficiency for simple systems. However, the observer execution with a MIMO system especially in combining with another parallel learning phase, such as neural networks, is definitely a different story.…”

Section: A Constrained Neural Sliding Mode Controlmentioning

confidence: 99%

“…Strictly constrained-asymptotic observation performances were obtained using linear excitation functions [31][32][33][34]. The estimation power could be further enhanced with nonlinear activation functions [35][36][37]. As a result, excellent control outcomes were normally resulted in from the disturbanceobserver-based control [29][30][31][32][33][34][35][36][37][38].…”

Section: Introductionmentioning

confidence: 99%

“…The estimation power could be further enhanced with nonlinear activation functions [35][36][37]. As a result, excellent control outcomes were normally resulted in from the disturbanceobserver-based control [29][30][31][32][33][34][35][36][37][38]. Adoption of a single channel to estimate complicated dynamics of robots under diverse working conditions however limited their performances especially for large disturbances in high working frequencies [38][39].…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

A Precise Neural-Disturbance Learning Controller of Constrained Robotic Manipulators

Xuan

Bae

2021

IEEE Access

Self Cite

View full text Add to dashboard Cite

An adaptive robust controller is introduced for high-precision tracking control problems of robotic manipulators with output constraints. A nonlinear function is employed to transform the constrained control objective to new free variables that are then synthesized using a sliding-mode-like function as an indirect control mission. A robust nonlinear control signal is derived to ensure the boundedness of the main control objective without violation of physical output constraints. The control performance is improved by adopting a neural-network model with conditioned nonlinear learning laws to deal with nonlinear uncertainties and disturbances inside the system dynamics. A disturbanceobserver-based control signal is additionally properly injected into the neural nonlinear system to eliminate the approximation error for achieving asymptotically tracking control accuracy. Performance of the overall control system is validated by intensive theoretical proofs and comparative simulation results.

show abstract

“…The system is a passivity model with bounded time-derivative states [19,22,37]. Robot joints are furthermore limited in physical ranges:…”

Section: Remarkmentioning

confidence: 99%

Section: A Constrained Neural Sliding Mode Controlmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

A Precise Neural-Disturbance Learning Controller of Constrained Robotic Manipulators

Xuan

Bae

2021

IEEE Access

Self Cite

View full text Add to dashboard Cite

show abstract

“…Active volume of chamber 2. Referring to [52], the dynamic model of the EHA system studied here consists of force dynamics and pressure dynamics, as follows. The force dynamics of the actuator is expressed as: m…”

Section: Quantity and Unit Xmentioning

confidence: 99%

Disturbance Observer-Based Chattering-Attenuated Terminal Sliding Mode Control for Nonlinear Systems Subject to Matched and Mismatched Disturbances

2021

Self Cite

View full text Add to dashboard Cite

This work presents a new disturbance observer-based chattering-attenuated terminal sliding mode control for a class of nonlinear systems in the presence of both mismatched and matched disturbances. A nonlinear disturbance observer is typically employed to accurately estimate mismatched disturbances. In this study, a terminal sliding mode control was designed, based on the disturbance estimation results, to counter the effects of disturbances and ultimately stabilize the target system. The utilization of a chattering-attenuated full-order terminal sliding mode structure satisfactorily resolves both chattering and singularity problems in controller design. It was shown by theoretical analyses that both the disturbance estimation error and the system state converge to the equilibrium point in finite time. Two simulation studies, namely a numerical example and an application to an electro hydrostatic actuator system, were conducted to examine the characteristics and to verify the effectiveness of the proposed algorithm.

show abstract

Super‐twisting estimator based velocity‐free robust tracking control of electro‐hydraulic actuators

Yin

Yang

Deng

et al. 2022

Adaptive Control & Signal

View full text Add to dashboard Cite

This article develops a high-precision tracking control without velocity measurement for electro-hydraulic actuators subject to mismatched and matched disturbances. Compared with previous studies, the presented control method is attractive from a practical point of view. First, velocity signal is often approximately derived by numerical differentiation on position signal, nevertheless, accompanied heavy noise will severely deteriorate tracking performance. Thus, to avert using noise-polluted velocity signal, a third-order super-twisting algorithm (STA) is developed to achieve velocity estimation. Second, the STA-based disturbance estimator is employed to estimate and compensate mismatched and matched disturbances in finite time. Then a composite STA-based control law is constructed to achieve a velocity-free high-performance tracking control, in which an employed modified STA only with an adjustable gain is easier to be performed for practical implementation. The stability analysis reveals the proposed controller is asymptotically stable while existing time-variant disturbances. Comparative experiment results validate the superiority of the presented method.

show abstract

An Effective Disturbance-Observer-Based Nonlinear Controller for a Pump-Controlled Hydraulic System

Cited by 64 publications

References 38 publications

A Precise Neural-Disturbance Learning Controller of Constrained Robotic Manipulators

A Precise Neural-Disturbance Learning Controller of Constrained Robotic Manipulators

Disturbance Observer-Based Chattering-Attenuated Terminal Sliding Mode Control for Nonlinear Systems Subject to Matched and Mismatched Disturbances

Super‐twisting estimator based velocity‐free robust tracking control of electro‐hydraulic actuators

Contact Info

Product

Resources

About