Extended state observer‐based finite time control of electro‐hydraulic system via sliding mode technique

Zou, Quan

doi:10.1002/asjc.2638

Cited by 17 publications

(8 citation statements)

References 40 publications

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“…Theorem 2: According to the proposed sliding mode control law (15) and adaptive switching gain (20), the system is capable of converging towards the vicinity of the sliding surface s ≤ sup S c X , and remaining within the sliding band.…”

Section: ) Stability Analysismentioning

confidence: 99%

Adaptive Sliding Mode Control of an Electro-Hydraulic Actuator With a Kalman Extended State Observer

Lao,

Chen

2024

IEEE Access

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Electro-hydraulic actuators (EHAs) are key linear drive components in various industrial applications. This paper addresses the challenge of achieving precise displacement tracking control for EHAs with only noisy displacement measurements. We propose a novel control approach, which consists of a Kalman extended state observer (KESO) with an adaptive sliding mode controller (ASMC). First, compared to the conventional high-gain design for the extended state observer (ESO), the Kalman filtering technique is utilized to tune the ESO feedback gain, effectively mitigating observation failures caused by measurement noise. Second, to ensure stability and minimize tracking errors in sliding mode control, a switching-gain adaptation is designed based on the desired switching gain via the derivative of the sliding variable. To validate the effectiveness of the proposed approach, simulation experiments are conducted in the Amesim simulation software. The results conclusively demonstrate that the proposed KESO-ASMC achieves significantly improved trajectory tracking performance, even in the presence of measurement noise and unknown disturbances.INDEX TERMS Adaptive switching gain, disturbance estimation, electro-hydraulic actuator, Kalman extended state observer, measurement noise, sliding mode control.

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Section: ) Stability Analysismentioning

confidence: 99%

Adaptive Sliding Mode Control of an Electro-Hydraulic Actuator With a Kalman Extended State Observer

Lao,

Chen

2024

IEEE Access

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“…The core idea of this approach is to create an observer to approximate the different disturbances in the system and then mitigate their effect through a control design procedure. Various disturbance observers were induced, such as adaptive disturbance observer [10], high-gain disturbance observer [11], time delay estimation [12], ESO [13][14][15], and so on. Typically, the well-known ESO exhibited the online estimation of the lumped disturbances, and only one parameter needs to be regulated without too much system information.…”

Section: Introductionmentioning

confidence: 99%

Fault-tolerant control for an electro-hydraulic servo system with sensor fault compensation and disturbance rejection

Phan

Ahn

2023

Nonlinear Dyn

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The electro-hydraulic servo system (EHSS) usually faces multiple sensor faults and disturbances, which is difficult to achieve good tracking control, reliability, and stability control. In this article, an advanced fault-tolerant controller is proposed for an EHSS to deal with the above challenge. The three fault observers, called nonlinear unknown input observers (NUIOs), are developed to effectively estimate the position, velocity, pressure sensor faults and the system states. The fault detection, estimation, and isolation are then presented as effective for multiple sensors failure at a time. The first NUIO for position sensor fault is utilized for the tracking control, while the other NUIOs are used for alarm proposal. The adverse effects caused by the matched and unmatched disturbances are eliminated by two extended state observers (ESOs). In addition, to avoid the “explosion of complexity” when computing the derivatives of virtual control laws, the dynamic surface control is applied to design the fault-tolerant control (FTC) scheme. The Lyapunov principle ensures system stability under lumped disturbance and faulty conditions. Finally, simulation studies and evaluation results are performed to demonstrate the validity of the proposed FTC algorithm.

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“…To the best of our knowledge, extended state observer (ESO), as a popular disturbance estimation method proposed by Han [9], can efficiently estimate disturbances without any disturbance information in the actual project [30,27,16,15,18]. Therefore, to better deal with disturbances and improve system control performance, SMC with ESO has attracted increasing attention in control fields [1,29,31,4,21]. Specifically, in [1], a linear ESO-based SMC with a linear sliding-mode surface and a Sign switching term for hydraulic system was proposed to deal with various disturbances.…”

Section: Introductionmentioning

confidence: 99%

“…Similarly, the above approach was also applied to an ankle exoskeleton system driven by an electrical motor, with the purpose of improving the tracking performance [29]. In order to improve the robustness of the above methods, scholars designed integral control strategies by replacing linear sliding surface with integral one, and successfully applied them to hydraulic system [31] and robotic system [4]. Furthermore, for the purpose of simplifying the ESO used in the above methods, Ren et al [21] designed an improved linear ESO to estimate disturbance, which enriched the disturbance estimation strategy.…”

Section: Introductionmentioning

confidence: 99%

Improved extended state observer-based global sliding-mode finite-time control for displacement tracking of a hydraulic roofbolter

et al. 2023

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The dead-zone nonlinearity and uncertain dynamics inevitably weaken the tracking performance of the displacement system for a hydraulic roofbolter. To address the above problem, this paper proposes a global slidingmode controller based on a reduced-order PD-type extended state observer (GSMC-PDESO). Firstly, the displacement system model of a hydraulic roofbolter is built by using a compensation technique to suppress the effect of dead-zone nonlinearity on control performance. Following that, a novel extended state observer that has less dimensions and few gains than standard one, called reduced-order PD-type extended state observer, is designed, with the purpose of improving the estimation performance and suppressing noise amplification. Moreover, a global sliding mode unit mainly composed of a novel global integral sliding-mode surface (NGISMS) and a novel global sliding-mode control law (NGSMCL) is developed, which aims to improve global robustness, eliminate the chattering and adverse impact on estimation error of disturbances, as well as provide an effective and continuous control law. By comparing the proposed GSMC-PDESO with ten control methods, the comparative experimental results verify the effectiveness of the proposed GSMC-PDESO and strategies.

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Extended state observer‐based finite time control of electro‐hydraulic system via sliding mode technique

Cited by 17 publications

References 40 publications

Adaptive Sliding Mode Control of an Electro-Hydraulic Actuator With a Kalman Extended State Observer

Adaptive Sliding Mode Control of an Electro-Hydraulic Actuator With a Kalman Extended State Observer

Fault-tolerant control for an electro-hydraulic servo system with sensor fault compensation and disturbance rejection

Improved extended state observer-based global sliding-mode finite-time control for displacement tracking of a hydraulic roofbolter

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