Backstepping Control of Electro-Hydraulic System Based on Extended-State-Observer With Plant Dynamics Largely Unknown

Abstract:In electro-hydraulic system (EHS), uncertain nonlinearities such as some hydraulic parametric uncertainties and external load disturbance often degrade the output dynamic performance. To address this problem, a prescribed performance constraint (PPC) control method is adopted in EHS to restrict the tracking position error of the cylinder position to a prescribed accuracy and guarantee the dynamic and steady position response in a required boundedness under these uncertain nonlinearities. Furthermore, a dynamic surface is designed to avoid the explosion of complexity due to the repeatedly calculated differentiations of the virtual control variables derived in backstepping. The effectiveness of the proposed controller has been verified by a comparative results.

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“…In practice, the hydraulic parameters C d , ρ, w, b, β e , C tl are usually uncertain constants, but the other parameters are known [38,39].…”

Section: Remarkmentioning

confidence: 99%

Prescribed Performance Constraint Regulation of Electrohydraulic Control Based on Backstepping with Dynamic Surface

et al. 2018

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“…Assumption (See the works of Yao et al and Guo et al) The functions f 2 , f 4 , F belong to C 2 and are globally Lipschitz with respect to X 2 , X 4 , X 3 , ie, there exists a set of known positive constants c 1 , c 2 , c 3 such that

\begin{matrix} right \\ ‖f_{2} (X_{2}) - f_{2} ({\overset{⌢}{boldX}}_{2})‖ \leq c_{1} ‖η_{2}‖ \leq c_{1} ‖η_{T}‖, ‖f_{4} (X_{4}) - f_{4} ({\overset{⌢}{boldX}}_{4})‖ \leq c_{2} ‖η_{4}‖ \leq c_{2} ‖η_{T}‖, \\ ‖F (X_{3}) - F ({\overset{⌢}{boldX}}_{3})‖ \leq c_{3} ‖η_{3}‖ \leq c_{3} ‖η_{T}‖ . \end{matrix}

…”

Section: Model‐assisted Eso‐and‐dsc–based Output‐feedback Trajectorymentioning

confidence: 99%

“…Hence, due to the precise estimation capability provided by the ESO, the nominal performance for the closed‐loop system can be recovered if the “total uncertainty” is timely compensated for. These advantages have been explored to develop various ESO‐based robust controllers and apply in many applications effectively, such as output‐feedback control for hydraulic systems,() ESO‐based trajectory linearization control for a hypersonic vehicle, and back‐stepping active disturbance rejection control for a missile . However, the existing ESO results are only available for integral‐chain systems to formulate a velocity‐free antidisturbance control strategy via some baseline stabilization controllers, and how to merge model information into observer design to promote the estimation performance is not well considered.…”

Section: Introductionmentioning

confidence: 99%

“…In addition, due to the underactuated property and strong coupling between translational and rotational loops, the aforementioned results on ESO‐based schemes cannot be extended to handle the output‐feedback controller design for quadrotors. Moreover, the output‐feedback controllers considered by Yao et al and Guo et al still have the disadvantage of “explosion of complexity” inherent in the traditional back‐stepping design.…”

Section: Introductionmentioning

confidence: 99%

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Model‐assisted extended state observer and dynamic surface control–based trajectory tracking for quadrotors via output‐feedback mechanism

Shao

Liu

et al. 2018

Intl J Robust & Nonlinear

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Summary In this paper, an output‐feedback trajectory tracking controller for quadrotors is presented by integrating a model‐assisted extended state observer (ESO) with dynamic surface control. The quadrotor dynamics are described by translational and rotational loops with lumped disturbances to promote the hierarchical control design. Then, by exploiting the structural property of the quadrotor, a model information–assisted high‐order ESO that relies only on position measurements is designed to estimate not only the unmeasurable states but also the lumped disturbances in the rotational loop. In addition, to account for the problem of “explosion of complexity” inherent in hierarchical control, the output feedback–based trajectory tracking and attitude stabilization laws are respectively synthesized by utilizing dynamic surface control and the corresponding estimated signals provided by the ESO. The stability analysis is given, showing that the output‐feedback trajectory tracking controller can ensure the ultimate boundedness of all signals in the closed‐loop system and make the tracking errors arbitrarily small. Finally, flight simulations with respect to an 8‐shaped trajectory command are performed to verify the effectiveness of the proposed scheme in obtaining the stable and accurate trajectory tracking using position measurements only.

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“…Although modeling accuracy was achieved, discrepancies in the pressure magnitudes between simulations and experiments were found. Transient pressure pulsations often lead to unexpected chatter, overshooting, and a zero bias of tracking error in the electrohydraulic control system [4][5][6][7]. Shu et al [8][9][10] developed a vaporous cavitation model that used a two-phase homogeneous equilibrium to simulate pipeline pressure transients with upstream, midstream, and downstream cavitation.…”

Section: Introductionmentioning

confidence: 99%

Pressure Transient Model of Water-Hydraulic Pipelines with Cavitation

Jiang¹,

Ren²,

Zhao³

et al. 2018

Applied Sciences

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Transient pressure investigation of water-hydraulic pipelines is a challenge in the fluid transmission field, since the flow continuity equation and momentum equation are partial differential, and the vaporous cavitation has high dynamics; the frictional force caused by fluid viscosity is especially uncertain. In this study, due to the different transient pressure dynamics in upstream and downstream pipelines, the finite difference method (FDM) is adopted to handle pressure transients with and without cavitation, as well as steady friction and frequency-dependent unsteady friction. Different from the traditional method of characteristics (MOC), the FDM is advantageous in terms of the simple and convenient computation. Furthermore, the mechanism of cavitation growth and collapse are captured both upstream and downstream of the water-hydraulic pipeline, i.e., the cavitation start time, the end time, the duration, the maximum volume, and the corresponding time points. By referring to the experimental results of two previous works, the comparative simulation results of two computation methods are verified in experimental water-hydraulic pipelines, which indicates that the finite difference method shows better data consistency than the MOC.

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Backstepping Control of Electro-Hydraulic System Based on Extended-State-Observer With Plant Dynamics Largely Unknown

Cited by 214 publications

References 25 publications

Prescribed Performance Constraint Regulation of Electrohydraulic Control Based on Backstepping with Dynamic Surface

Prescribed Performance Constraint Regulation of Electrohydraulic Control Based on Backstepping with Dynamic Surface

Model‐assisted extended state observer and dynamic surface control–based trajectory tracking for quadrotors via output‐feedback mechanism

Pressure Transient Model of Water-Hydraulic Pipelines with Cavitation

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