Fixed-time observer-based back-stepping controller design for tower cranes with mismatched disturbance

Xia, Jiyu; Ouyang, Huimin; Li, Shishou

doi:10.1007/s11071-022-07851-3

Cited by 12 publications

(2 citation statements)

References 27 publications

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“…In practical hydraulic systems, the physical parameters m , σ 0 , σ 1 , A , D , β e , K m , V t , and C t are all positive and bounded; therefore, the condition 0 < θ i ≤ k i ( i = 1,...,7) is satisfied. The boundedness of the disturbances is a mild condition to develop a feasible control strategy, and the similar assumption can be found in many works (Barchi et al, 2021; Lu et al, 2021; Xia et al, 2023; Yang et al, 2022). From a practical viewpoint, the energy of the disturbances in hydraulic systems is finite, which also implies that d 1 and d 2 are bounded.…”

Section: Dynamic Modeling Of the Systemmentioning

confidence: 71%

“…The observers provide an online estimation of the friction and disturbances for the controller to perform feedforward compensation. In Xia et al (2023), a finite-time DOB was developed to estimate and compensate for the sudden disturbance to minimize its effect on control performance. In Yang et al (2022), a composite compensation scheme was presented by incorporating ESO with neural networks to concurrently estimate the exogenous and endogenous disturbances and then compensate for them.…”

Section: Introductionmentioning

confidence: 99%

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LuGre model–based robust adaptive control for a pump-controlled hydraulic actuator experiencing friction

Wang,

Cai,

Song

et al. 2024

Transactions of the Institute of Measurement and Control

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In this paper, a LuGre model–based robust adaptive control (RAC) approach is presented for a pump-controlled hydraulic actuator. We first decompose the LuGre friction model into its steady-state model and a lumped dynamic part applying the mean value theorem, which are compensated by a feedforward term and a robust adaptive term, respectively. The robust adaptive term also plays a part in mismatched disturbance attenuation. In addition, parametric uncertainties and matched disturbances are handled by σ-modified adaptation laws and a robust control law, respectively. The stability of the closed-loop system is proved via the Lyapunov analysis. The efficacy and robustness of the proposed approach are validated by comparative experiments. Compared with common adaptive friction compensation methods, the proposed method has a simpler structure, less computational burden, better control performance, and stronger robustness. Moreover, since the available information is separated from the LuGre model and acts as a model-based compensation term, the design conservativeness of RAC is effectively reduced.

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