Sliding mode observer-based fractional-order proportional–integral–derivative sliding mode control for electro-hydraulic servo systems

Cheng, Cheng; Liu, Songyong; Wu, Hongzhuang

doi:10.1177/0954406220903337

Cited by 32 publications

(15 citation statements)

References 44 publications

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“…However, chattering phenomenon, equivalent control law design, and the boundary uncertainty restrict its practical application. Cheng et al put forward a novel sliding mode control method based on the fractional-order PID sliding surface and state observe for EHSS subjected to strong nonlinearities and parametric uncertainties, and chattering problem was finally reduced [35]. The backstepping control is an effective control method for nonlinear systems.…”

Section: Introductionmentioning

confidence: 99%

Neural Network Based Adaptive Backstepping Control for Electro-Hydraulic Servo System Position Tracking

Wan

Yue

2022

International Journal of Aerospace Engineering

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The modeling uncertainties and external disturbances of electro-hydraulic servo system (EHSS) deteriorate the system’s trajectory tracking performance. To cope with this issue, an adaptive backstepping controller based on neural network (NN) is proposed in this paper. A radial-basis-function neural network (RBF NN) is constructed to approximate the lumped uncertainties caused by modeling uncertainties and external disturbances, where the adaptive law is adopted to adjust controller parameters online. The backstepping control is used to eliminate mismatched nonlinear terms and stabilize the system. The dynamic surface control (DSC) is adopted to handle the “explosion of complexity” problem of backstepping method and reduce the computational burden. Compared to the traditional backstepping control, the proposed control scheme improves the steady-state tracking precision and makes the control signal smaller. In addition, the stability analysis shows that the tracking error can asymptotically converge to zero in the face of time-varying unknown dynamics. Simulation and experiment results demonstrate the effectiveness of the controller in term of tracking accuracy and disturbance rejection in comparison with other controllers for the EHSS.

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Section: Introductionmentioning

confidence: 99%

Neural Network Based Adaptive Backstepping Control for Electro-Hydraulic Servo System Position Tracking

Wan

Yue

2022

International Journal of Aerospace Engineering

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“…3,4 As for the aforementioned typical application cases, the hydraulic systems are always accompanied by severe nonlinearities, such as hydraulic internal leakage, dead zone, nonlinear dynamics of valves, uncertainty of hydraulic parameters, and external undiscovered and timevarying disturbance. [5][6][7] These problems bring in great difficulties in the accurate modeling and high-accuracy tracking control for hydraulic systems, and as a result the widely adopted traditional proportional-integral-derivative (PID) controller fails in achieving a precise motion-tracking performance. To compensate for the traditional PID controller's deficiency in dealing with hydraulic nonlinearities, advanced PID controller combining different Fuzzy algorithms is proposed, 8,9 and the motion-tracking performance is improved to some extent.…”

Section: Introductionmentioning

confidence: 99%

Command filtered adaptive backstepping control for high-accuracy motion tracking of hydraulic systems with extended state observer

Xie

Shen

et al. 2021

Proceedings of the Institution of Mechanical Engineers, Part I:

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High-accuracy motion tracking of hydraulic systems is of great significance in industrial applications. Nevertheless, dynamic nonlinearity, modeling uncertainty, generalized disturbance, and measurement noise are inevitably existed in hydraulic systems, which severely deteriorates the practical control performance. Aimed at enhancing the motion-tracking accuracy of hydraulic systems, a novel command filtered adaptive backstepping controller with extended state observer is proposed in this article. On the basis of the established system’s nonlinear model, the extended state observer utilizing only position output feedback information is first designed to estimate the system’s unmeasurable states, and time-varying disturbances of the hydraulic system are also obtained for subsequent active disturbance compensation. Next, a second-order command filter is constructed to generate specific command signals and their derivatives, which significantly simplifies the controller design process by avoiding complicated analytical differential calculations in contrast to traditional adaptive backstepping algorithm. Subsequently, with consideration of system’s nonlinearity, parametric uncertainty, and time-varying disturbance, the developed extended state observer and command filter are introduced into the adaptive backstepping design process of the proposed controller, and theoretical stability of the proposed controller is guaranteed via Lyapunov analysis. Finally, the effectiveness and superiority of the proposed controller are demonstrated by comparative experimental results.

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“…As regards the limitation of unknown components, disturbance observer-based methods have now emerged as the best solution. 28–32…”

Section: Introductionmentioning

confidence: 99%

Design of a non-singular fast terminal sliding mode control for second-order nonlinear systems with compound disturbance

Kolahi

Gharib

Heydari

2021

Proceedings of the Institution of Mechanical Engineers, Part C:

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This paper investigates a new disturbance observer based non-singular fast terminal sliding mode control technique for the path tracking and stabilization of non-linear second-order systems with compound disturbance. The compound disturbance is comprised of both parametric and non-parametric uncertainties. While warranting fast convergence rate and robustness, it also dominates the singularity and complex-value number issues associated with conventional terminal sliding mode control. Furthermore, due to the estimation properties of the observer, knowledge about the bounds of the uncertainties is not required. The simulation results of two case studies, the velocity and path tracking of an autonomous underwater vehicle and the stabilization of a chaotic Φ6-Duffing oscillator, validate the efficacy of the proposed method.

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Sliding mode observer-based fractional-order proportional–integral–derivative sliding mode control for electro-hydraulic servo systems

Cited by 32 publications

References 44 publications

Neural Network Based Adaptive Backstepping Control for Electro-Hydraulic Servo System Position Tracking

Neural Network Based Adaptive Backstepping Control for Electro-Hydraulic Servo System Position Tracking

Command filtered adaptive backstepping control for high-accuracy motion tracking of hydraulic systems with extended state observer

Design of a non-singular fast terminal sliding mode control for second-order nonlinear systems with compound disturbance

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