State-Constrained Control of Single-Rod Electrohydraulic Actuator With Parametric Uncertainty and Load Disturbance

Abstract

The suppression of disturbances under parametric uncertainties is one of the most common control problems in electrohydraulic systems, as both disturbances and uncertainties often significantly degrade the tracking performance and bias the load pressure of the electrohydraulic actuator (EHA). This brief presents a state-constrained control of single-rod EHA to restrict the position tracking error to a prescribed accuracy and guarantee the load pressure in the maximal power boundary. Furthermore, a dynamic surface is designed to avoid the explosion of complexity due to the repeatedly calculated differentiations of the virtual control variables in the backstepping iteration. Integrating with a disturbance observer and the parametric estimation law, this state-constrained controller guarantees the asymptotic convergence of system state error under parametric uncertainties and large load disturbances. The effectiveness of the proposed controller has been demonstrated by a comparative experiment on the motion control of the two-degree-of-freedom robotic arm.