ARISE-Based Cross-Coupling Synchronization Control for a Dual Redundant Hydraulic Actuation System with Extended State Observer

Abstract

To realize high precision synchronous trajectory tracking control, a control method combining adaptive robust integral of the sign of the error (ARISE) controller and extended state observer (ESO) is proposed in this paper. Meanwhile, combining with the cross-coupling control method (CCC), Effectively alleviate the problem of force fighting caused by output asynchronization between two actuators. In this paper, two ESOs were constructed to estimate the disturbances of the second channel and the third channel respectively and make feed-forward compensation, so as to further suppress the estimated residuals of ESOs by using ARISE to improve the control precision of the system. The proposed controller can deal with the matched uncertainty and unmatched uncertainty in the system, and theoretically achieves an asymptotically tracking performance. Simulation results show that the ARISEESO+CCC control method proposed in this paper can achieve excellent synchronization performance in two actuators system.