Disturbance-Observer-Based Backstepping Controller for Position Tracking Error Constrained Electro-pneumatic Servo Systems

被引：0
|
作者：
Meng, Deyuan [1 ]
Lu, Bo [2 ]
Tang, Chaoquan [1 ]
Li, Qingyang [1 ]
机构：
[1] China Univ Min & Technol, Sch Mechatron Engn, Xuzhou 221116, Jiangsu, Peoples R China
[2] Natl Qual Supervis & Inspect Ctr Pneumat Prod, Ningbo 315500, Zhejiang, Peoples R China
来源：
2018 37TH CHINESE CONTROL CONFERENCE (CCC) | 2018年
基金：
中国博士后科学基金;
关键词：
Electro-pneumatic servo systems; backstepping control; disturbance observer; tracking error constraint; SLIDING-MODE CONTROL; ELECTROPNEUMATIC SYSTEM; SYNCHRONIZATION; ACTUATOR;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, a disturbance observer based backstepping controller is developed for the electro-pneumatic servo systems with single-rod cylinder. A disturbance observer that does not require the state derivatives is firstly constructed, and based on which a nonlinear control law is then synthesized by adopting the backstepping method. By utilizing the Barrier Lyapunov Function in the controller design, a prescribed tolerance of position tracking error can be guaranteed theoretically. The stability of the closed-loop system is proven by the means of Lyapunov theory. Experimental results are presented to demonstrate the effectiveness of the proposed controller.
引用
收藏
页码：3687 / 3692
页数：6
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