Dual extended state observer-based backstepping control of electro-hydraulic servo systems with time-varying output constraints

Abstract

In this paper, a novel nonlinear robust controller ensuring time-varying output constraints for the double-rod hydraulic servo systems in the presence of largely unknown matched and mismatched disturbances is proposed. By employing two extended state observers for each channel of the load dynamics and pressure dynamics of the considered hydraulic system, the large matched and mismatched disturbances are successfully compensated. In addition, a time-varying barrier Lyapunov function (BLF) of asymmetric type has been employed to make sure that the position output is never violated. The resulting controller is synthesized using the backstepping procedure. The stability of the whole closed-loop hydraulic system associated with the dual extended state observer (ESO)-based controller is strictly guaranteed. In theory, the proposed control strategy can not only ensure the output satisfy the preset constrained space, but also enhance the output tracking performance when the system faces various largely unknown disturbances. The effectiveness of the proposed controller has also been demonstrated via comparative simulation results.

Predictive extended state observer-based robust control for uncertain linear systems with experimental validation

“…Therefore, the LADRC has been widely used as a control for a large class of processes (Zheng et al, 2007c). There are so many advantages of ADRC over the standard PID control, hence the ADRC has successfully implemented in applications like motion control (Goforth, 2004), MEMS gyroscope (Dong et al, 2008a(Dong et al, , 2008bQing and Zhiqiang, 2011;Zheng et al, 2007bZheng et al, , 2009b, chemical-process control Zheng et al (2007aZheng et al ( , 2009a, boiler-turbine unit (Guannan et al, 2011), alstom gasifier (Huang et al, 2013), power plant operation (Sun et al, 2019a), variable speed micro-hydro plants (Guo et al, 2019), electro-hydraulic servo systems (Yang, 2020), quadrotor trajectory tracking (Wang et al, 2020;Zhang et al, 2020), and so forth.…”

The use of magnetostrictive intelligent sensors for fault tolerant control of induction motors with energy harvesting principle

“…For these reasons it is necessary to develop a fault tolerant control (FTC) capable of preserving system performance in the absence of operational conditions (El Batal et al, 2020; Yan et al, 2018). The backstepping control (BSC) is based on the rotor flow orientation technique (Benaskeur and Desbiens, 2002; Yang, 2019). It is able to retain almost all robustness properties (Nikdel et al, 2017; Wai and Chang, 2004).…”

Maximum likelihood-based robust state estimation over a horizon length during measurement outliers

“…Dynamic state estimation (DSE) problem finds its applications in a variety of fields such as wireless communication, sensor networks, control, navigation and tracking, robotics, and cyber-physical systems (Reppa, 2014; Simon, 2006; Yang, 2019). In control theory, DSE has a major role in the design of output feedback controllers since the birth of state-space approaches for dynamical system analysis (Li, 2018, 2019; Menini, 2019).…”

“…Robustness towards unknown uncertainties that might be present either in system models or sensor measurements is a main challenge in state estimation framework. These uncertainties may enter into the system through its input, sensor measurements or model itself, and may be of varying nature such as unknown noise statistics, un-modeled system dynamics, unknown parameters/disturbances and data association uncertainties (Ichalal, 2018; Li T et al, 2018; Liu, 2019; Yang, 2019; Yu, 2017). In this work, for measurement model, we combine these uncertainties into two different groups: outliers with zero mean and outliers with non-zero mean.…”