Abstract
In this paper, an active disturbance rejection control is designed to improve the position tracking performance of an electro-hydraulic actuation system in the presence of parametric uncertainties, non-parametric uncertainties, and external disturbances as well. The disturbance observers (Dos) are proposed to estimate not only the matched lumped uncertainties but also mismatched disturbance. Without the velocity measurement, the unmeasurable angular velocity is robustly calculated based on the high-order Levant’s exact differentiator. These disturbances and angular velocity are integrated into the control design system based on the backstepping framework which guarantees high-accuracy tracking performance. The system stability analysis is analyzed by using the Lyapunov theory. Simulations based on an electro-hydraulic rotary actuator are conducted to verify the effectiveness of the proposed control method.
Highlights
Electro-hydraulic servo systems (EHSSs) have been widely employed for years in a wide range of industrial applications such as load simulators [1], robot manipulators [2,3,4,5,6], vehicle active suspension [7,8], and hydraulic press [9] due to their advantages of high produced force/torque, high stiffness, high power-to-weight ratio, high load efficiency, and fast and smooth response [10]
To obtain an asymptotic tracking performance, a robust integral of the sign of the error (RISE)-based adaptive control [29] has been investigated where unknown parameters are estimated via adaptive technique and all unmodeled uncertainties are compensated by the RISE feedback
Inspired by the aforementioned discussion, this paper proposes a novel active disturbance rejection control to improve the tracking performance of a hydraulic servo system
Summary
Electro-hydraulic servo systems (EHSSs) have been widely employed for years in a wide range of industrial applications such as load simulators [1], robot manipulators [2,3,4,5,6], vehicle active suspension [7,8], and hydraulic press [9] due to their advantages of high produced force/torque, high stiffness, high power-to-weight ratio, high load efficiency, and fast and smooth response [10]. To obtain an asymptotic tracking performance, a robust integral of the sign of the error (RISE)-based adaptive control [29] has been investigated where unknown parameters are estimated via adaptive technique and all unmodeled uncertainties are compensated by the RISE feedback. In [19], an extended state observer (ESO)-based control for a hydraulic rotary actuator originated from [45] was proposed to approximate angular velocity and matched disturbance by using an extended state. Inspired by the aforementioned discussion, this paper proposes a novel active disturbance rejection control to improve the tracking performance of a hydraulic servo system. Inspired by the aforementioned discussion, this paper proposes a novel active disturbance rejection control to improve the tracking performance of a hydraulic servo sys of 22 tem.
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