Abstract
Uncertainties and disturbances widely exist in electrohydraulic lifting mechanisms of launcher systems, which may worsen the rapid-erection tracking accuracy and even make the system unstable. To deal with the issue, an asymptotic tracking control framework is developed for electrohydraulic lifting mechanisms of launcher systems. Firstly, the dynamic equations and state-space forms of the electrohydraulic lifting mechanism are modeled. Based on the system model, a nonlinear rapid-erection robust controller is constructed to achieve the improvement of the system control performance, in which a nonlinear feedback term is employed to remove the effects of uncertainties and disturbances on tracking performance. Compared to the existing results, the asymptotic tracking stability of the closed-loop system can be assured based on the Lyapunov theory analysis. In the end, the simulation example of an actual electrohydraulic lifting mechanism of the launcher system is done to validate the effectiveness with the proposed controller.
Highlights
Electrohydraulic lifting mechanisms have been increasingly used in launcher systems [1,2,3,4,5] in terms of their merits containing large force/torque output, high response and small size-to-power ratio
By integrating a robust integral of the sign of the error feedback (RISE) [20] and backstepping method, a RISE-based backstepping controller was developed for hydraulic systems in [21,22] to get an asymptotic stability while existing smooth disturbances
Based on the state-space system function, a nonlinear robust controller is constructed to achieve the improvement of the system control performance, in which a nonlinear feedback term is employed to remove the effects of uncertainties and disturbances on tracking performance
Summary
Electrohydraulic lifting mechanisms have been increasingly used in launcher systems [1,2,3,4,5] in terms of their merits containing large force/torque output, high response and small size-to-power ratio. By integrating a robust integral of the sign of the error feedback (RISE) [20] and backstepping method, a RISE-based backstepping controller was developed for hydraulic systems in [21,22] to get an asymptotic stability while existing smooth disturbances. A rapid-erection backstepping tracking controller for the electrohydraulic lifting mechanism of the launcher system with asymptotic stability is developed. Based on the state-space system function, a nonlinear robust controller is constructed to achieve the improvement of the system control performance, in which a nonlinear feedback term is employed to remove the effects of uncertainties and disturbances on tracking performance. (1) A rapiderection backstepping robust control with asymptotic tracking performance is developed for the electrohydraulic lifting mechanism of launcher systems subject to mechanism nonlinearities, friction nonlinearities and time-variant disturbances.
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