Barrier Lyapunov Function-Based Adaptive Output Feedback Prescribed Performance Controller for Hydraulic Systems With Uncertainties Compensation

Xu, Zhangbao; Sun, Chuanbin; Hu, Xiaolei; Liu, Qingyun; Yao, Jianyong

doi:10.1109/tie.2023.3236114

Cited by 31 publications

(8 citation statements)

References 43 publications

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“…Therefore, the lumped mismatched disturbance d 1 (x, t) should be bounded to ensure a desired tracking performance. The other assumptions have been proven to be reasonable and practical, and they could be found in many previous studies [36][37][38][39][40] focusing on observer-based control design for EHSs.…”

Section: System Modeling and Problem Statementmentioning

confidence: 99%

Extended Sliding Mode Observer-Based Output Feedback Control for Motion Tracking of Electro-Hydrostatic Actuators

Nguyen,

Ahn

2023

Mathematics

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This paper develops a novel output feedback control scheme for the motion-tracking problem of an electro-hydrostatic actuator (EHA) in the presence of model uncertainties and external disturbances. Firstly, a simplified third-order system model of the studied EHA is established using theoretical methods. For the first time, an extended sliding mode observer (ESMO) is introduced to simultaneously account for the shortage of unknown system states and modeling imperfections. Based on this, a robust nonlinear controller is developed using the backstepping control framework to stabilize the closed-loop system. This controller integrates estimates of immeasurable system states and lumped disturbances to deal with their adverse impacts. Moreover, the dynamic surface control (DSC) technique is employed to effectively mitigate the computational burden of the traditional backstepping framework. An ultimately uniformly bounded (UUB) performance is assured by using the recommended method. Furthermore, the stability of not only the observer but also the closed-loop system is concretely analyzed by using the Lyapunov theory. Finally, experiment results under various working scenarios are given to convincingly demonstrate the advantage of the suggested method in comparison with some reference control approaches.

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Section: System Modeling and Problem Statementmentioning

confidence: 99%

Extended Sliding Mode Observer-Based Output Feedback Control for Motion Tracking of Electro-Hydrostatic Actuators

Nguyen,

Ahn

2023

Mathematics

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“…Electro-hydraulic servo systems, known for their significant output force and high responsiveness, are widely used as power actuators in many loading test systems. However, the inherent nonlinearity, parameter uncertainties, and modeling uncertainties associated with these systems present complex challenges in the development of high-performance closed-loop controllers [4][5][6][7]. Moreover, within the specific framework of fatigue loading test systems, a critical area of research is the reduction in impact damage to test specimens during the testing process.…”

Section: Introductionmentioning

confidence: 99%

Research on Compliance Control of Electro-Hydraulic Loading Experimental System

Jiang,

Shen,

Zhi

et al. 2024

Electronics

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This article discusses the challenges in preventing workpiece damage due to impacts in electro-hydraulic loading systems, especially in unknown environments. We propose an innovative compliance control strategy, synergizing a series elastic actuator with impedance control to significantly mitigate impact forces between the mechanism and test workpieces. The controller consists of two loops: an internal loop and an outer loop. The internal loop integrates a position loop utilizing a radial basis function observer within a backstepping control framework, effectively countering the nonlinear dynamics of hydraulic actuators and ensuring precise trajectory tracking. The outer loop advances traditional impedance control by adaptively modifying the damping coefficient, resulting in a straightforward and easily implementable damping control law. For the unknown environment parameters, our system employs a parameter estimation law to estimate the unknown environmental stiffness and position parameters. The effectiveness of this strategy has been verified through comparative simulation with traditional impedance control, indicating that the proposed method can not only effectively reduce contact shock in unknown environments, improve response speed, and reduce overshoot, but also improve steady-state accuracy. We provided a feasible control scheme for similar systems to ensure precise and safe operation.

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“…To compensate the matched and mismatched disturbances, the dual extended-sate-observer-based backstepping control is employed for each channel of the load dynamics and pressure dynamics of the EHS. 11 To address the issues of dead zone and disturbance, a novel integral sliding-mode control (NISMC) with improved nonlinear extended state observer (ESO) and uncertain gain adaptive law is proposed in the work by Zhang et al 12 Xu et al 13 presented an adaptive output feedback prescribed performance controller. By integrating the adaptive control and disturbance observer into the ESO, the matched and mismatched uncertainties can be feed-forward compensated in the output feedback control.…”

Section: Introductionmentioning

confidence: 99%

Adaptive backstepping-extended state observer control for electrohydraulic position servo systems with multiple disturbances using the compound friction compensation

Zhang,

Dai,

Zhang

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part I:

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Multiple disturbances coming from friction, matched, and mismatched uncertainties make it difficult for electrohydraulic servosystems to obtain the satisfactory position-tracking performance. The existing adaptive backstepping controllers fail to effectively distinguish the difference of disturbance between the mechanical subsystem and the hydraulic subsystem, which limits the compensation effect of multiple disturbances, especially for friction nonlinearity. Therefore, the adaptive backstepping-extended state observer position-tracking controller combined with compound friction compensation is proposed to simultaneously compensate for the fast-varying friction disturbance of a mechanical subsystem and the slow-varying matched disturbance of a hydraulic subsystem. The extended state observer algorithm is integrated into the adaptive backstepping controller to suppress the null bias of the average tracking error. The compound friction compensation includes a LuGre model-based compensation and a high-order disturbance observer, which can improve the tracking performance of system and avoids the excessive gain of observer. A large number of comparative experiments are conducted to verify the effective of the proposed controller.

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Barrier Lyapunov Function-Based Adaptive Output Feedback Prescribed Performance Controller for Hydraulic Systems With Uncertainties Compensation

Cited by 31 publications

References 43 publications

Extended Sliding Mode Observer-Based Output Feedback Control for Motion Tracking of Electro-Hydrostatic Actuators

Extended Sliding Mode Observer-Based Output Feedback Control for Motion Tracking of Electro-Hydrostatic Actuators

Research on Compliance Control of Electro-Hydraulic Loading Experimental System

Adaptive backstepping-extended state observer control for electrohydraulic position servo systems with multiple disturbances using the compound friction compensation

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