Disturbance observer based position tracking of electro-hydraulic actuator

Guo, Kai; Wei, Jianhua; Tian, Qiyan

doi:10.1007/s11771-015-2740-2

Cited by 15 publications

(11 citation statements)

References 20 publications

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“…Noting assumption 2, equation (19), and P1 in equation (13), there exists a 2s2 such that the following two conditions are satisfied 3 z 2 a 2s2 0 ð24Þ…”

Section: Problem Formulation and Dynamic Modelsmentioning

confidence: 99%

Performance-oriented asymptotic tracking control of hydraulic systems with radial basis function network disturbance observer

Qiu

2016

Advances in Mechanical Engineering

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Uncertainties, including parametric uncertainties and uncertain nonlinearities, always exist in positioning servo systems driven by a hydraulic actuator, which would degrade their tracking accuracy. In this article, an integrated control scheme, which combines adaptive robust control together with radial basis function neural network-based disturbance observer, is proposed for high-accuracy motion control of hydraulic systems. Not only parametric uncertainties but also uncertain nonlinearities (i.e. nonlinear friction, external disturbances, and/or unmodeled dynamics) are taken into consideration in the proposed controller. The above uncertainties are compensated, respectively, by adaptive control and radial basis function neural network, which are ultimately integrated together by applying feedforward compensation technique, in which the global stabilization of the controller is ensured via a robust feedback path. A new kind of parameter and weight adaptation law is designed on the basis of Lyapunov stability theory. Furthermore, the proposed controller obtains an expected steady performance even if modeling uncertainties exist, and extensive simulation results in various working conditions have proven the high performance of the proposed control scheme.

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“…Noting assumption 2, equation (19), and P1 in equation (13), there exists a 2s2 such that the following two conditions are satisfied 3 z 2 a 2s2 0 ð24Þ…”

Section: Problem Formulation and Dynamic Modelsmentioning

confidence: 99%

Performance-oriented asymptotic tracking control of hydraulic systems with radial basis function network disturbance observer

Qiu

2016

Advances in Mechanical Engineering

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“…High gain disturbance observer was designed in (Won et al, 2015) to observe the lumped disturbances that included the friction, the load force and the parameter uncertainty with avoiding the amplification of the measurement noise. Extended disturbance observer was proposed for electro-hydraulic single-rod actuators to track desired position trajectory (Guo et al, 2015a(Guo et al, , 2015b. The observed results showed that the new observer had a satisfactory performance in estimating external disturbances and parameter uncertainties.…”

Section: Introductionmentioning

confidence: 99%

Output feedback control for the driving cylinder of hydraulic support with error constraint

Wang

Zhao

Wang

et al. 2022

Journal of Vibration and Control

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The position control of the driving cylinder of hydraulic support affects the straightness of the underground coal mining face, so this paper focuses on improving tracking performance of the driving cylinder system. Since only position signal of the system is measurable, a Levant differentiator is designed to estimate the velocity and acceleration of the driving cylinder system, which can reduce the effect of the measurement noise. Besides, the parameter changes, modelling errors and external disturbances are treated as a lumped disturbance, an extended disturbance observer is constructed to estimate the lumped disturbance and compensate for the proposed controller. Moreover, barrier Lyapunov function is introduced to limit the tracking error into a small set around zero, and then the stability of the close-loop system is proved. Both the performance of differentiator and disturbance observer is verified in simulation experiments in MATLAB/Simulink. Finally, an experiment rig for the driving cylinder system of hydraulic support is established and comparative experiments are carried out. The experiment results show that the proposed extended disturbance observer-based output feedback controller with error constraint has a satisfied effectiveness in improving tracking performance.

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“…However, external disturbances that usually exist in nonlinear systems are not taken into account during the controllers' design process. Guo K. [33,34] presented a nonlinear cascade controller based on an extended disturbance observer to track the desired position trajectory for electrohydraulic single-rod actuators in the presence of both external disturbances and parameter uncertainties. Kasac J.…”

Section: Introductionmentioning

confidence: 99%

Position Deviation Control of Drilling Machine Using a Nonlinear Adaptive Backstepping Controller Based on a Disturbance Observer

Liu

2021

Processes

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Thin coal seam mining is a development direction to solve the problem of energy supply at this stage, which cannot be realized by small working space, low automation, and drilling deviation. In this paper, a nonlinear adaptive backstepping controller based on a disturbance observer is proposed and used on a coal auger for position tracking control to achieve directional drilling. Firstly, a nonlinear dynamic model for the deflection control mechanism is built with the consideration of parameter uncertainties and external disturbances. Then, the parameter uncertainty and external disturbance are regarded as a system compound disturbance. Furthermore, a disturbance observer is designed to estimate the system compound disturbance and a nonlinear adaptive backstepping controller was proposed to compensate the system compound disturbance. The upper bound of the compound disturbance, which can effectively reduce the chattering in the directional control process, cannot be obtained easily. A stability analysis of the DCM (deviation control mechanism) with the proposed controller is proved based on the Lyapunov theory. Finally, an electro-hydraulic servo displacement control experimental system with matlab xPC target rapid prototyping technology and a prototype experiment system is established to verify the effectiveness of the proposed control strategy. The experimental results indicate that the proposed controller can yield more satisfactory position tracking performance, such as parameter uncertainties and external disturbances, than the conventional proportion integral derivative (PID) controller and an adaptive backstepping controller. Using the control strategy, technical breakthrough on horizontal directional drilling can be realized for thin coal seam mining.

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Disturbance observer based position tracking of electro-hydraulic actuator

Cited by 15 publications

References 20 publications

Performance-oriented asymptotic tracking control of hydraulic systems with radial basis function network disturbance observer

Performance-oriented asymptotic tracking control of hydraulic systems with radial basis function network disturbance observer

Output feedback control for the driving cylinder of hydraulic support with error constraint

Position Deviation Control of Drilling Machine Using a Nonlinear Adaptive Backstepping Controller Based on a Disturbance Observer

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