Extended sliding mode observer-based robust tracking control scheme for electro-hydraulic servo systems

被引：0
|
作者：
Zang W. [1 ,2 ]
Shen G. [3 ]
Zhao J. [4 ]
Zang K. [5 ]
机构：
[1] School of Information and Control Engineering, Qingdao University of Technology, Qingdao
[2] The Coal Mine Safety Mining Equipment Innovation Center of Anhui Province, Anhui University of Science and Technology, Huainan
[3] School of Mechatronics Engineering, Anhui University of Science and Technology, Huainan
[4] College of Transportation, Shandong University of Science and Technology, Qingdao
[5] School of Physics and Mechanical and Electrical Engineering, Longyan University, Longyan
来源：
Zhejiang Daxue Xuebao (Gongxue Ban)/Journal of Zhejiang University (Engineering Science) | 2024年 / 58卷 / 03期
关键词：
backstepping control; barrier Lyapunov function; electro-hydraulic servo system; extended sliding mode observer; parameter adaption; system uncertainty;
D O I：
10.3785/j.issn.1008-973X.2024.03.018
中图分类号：
学科分类号：
摘要：
A state-space model was constructed by considering system uncertainties such as external disturbances, friction force, parameter uncertainties, structural vibrations as well as unmodeled characteristics, in order to improve the control performance of electro-hydraulic servo systems (EHSSs). A novel extended sliding mode observer (ESMO) was proposed to simultaneously estimate the system full-state and the system uncertainties, in order to address the system uncertainties. The ESMO was optimized using the equivalent injection principle and proper saturation functions. The estimated value of the system uncertainties was then utilized in the design of the backstepping control architecture, where a barrier Lyapunov function (BLF) was introduced to constrain the tracking error within a desired certain range. In addition, parameter adaptation laws were incorporated to enhance the control performance of the system. A simulation model was established in the MATLAB/Simulink software, to validate the performance of the proposed control methodology. What's more, an experimental setup of the EHSS was implemented, and some real-time control experiments were conducted. The results from both simulation and experiment demonstrate that the proposed methodology outperforms the BLF-based backstepping controller and the traditional backstepping controller. © 2024 Zhejiang University. All rights reserved.
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页码：611 / 621
页数：10
相关论文
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