×

zbMATH — the first resource for mathematics

Output feedback control of electro-hydraulic servo actuators with matched and mismatched disturbances rejection. (English) Zbl 1423.93132
Summary: In this paper, two output feedback controllers are proposed for motion control of double-rod electro-hydraulic servo actuators with matched and mismatched disturbances rejection. All of them employ an linear extended state observer (LESO) to achieve real-time estimates of the unmeasured system states and matched disturbance, and a nonlinear disturbance observer (NDO) to estimate the largely unknown mismatched disturbance at the same time. Thus, the disturbances are compensated via their online estimates in a feedforward way when implementing the resulting control algorithms, respectively. Furthermore, a continuously differentiable friction model is employed to compensate the majority of nonlinear friction existing in the system and reduce the burden of the NDO. Specially, one of the proposed control schemes utilizes model-based compensation terms depending on the desired trajectory to be tracked instead of the estimated system states. By doing this, online computation burden can be reduced. The stability of the whole closed-loop system under each control scheme is guaranteed by theoretical analysis. Moreover, the applicability of each control scheme are validated by experiments in different working conditions.

MSC:
93B52 Feedback control
93C95 Application models in control theory
93B35 Sensitivity (robustness)
PDF BibTeX XML Cite
Full Text: DOI
References:
[1] Yao, B.; Bu, F.; Reedy, J.; Chiu, G. T.C., Adaptive robust motion control of single-rod hydraulic actuators: theory and experiments, IEEE/ASME Trans. Mechatron., 5, 1, 79-91 (2000)
[2] Sun, W.; Gao, H.; Yao, B., Adaptive robust vibration control of full-car active suspensions with electrohydraulic actuators, IEEE Trans. Control Syst. Technol., 21, 6, 2417-2422 (2013)
[3] Sun, W.; Pan, H.; Gao, H., Filter-based adaptive vibration control for active vehicle suspensions with electrohydraulic actuators, IEEE Trans. Veh. Technol., 65, 6, 4619-4626 (2016)
[4] Zhao, S.; Wang, J.; Wang, L.; Hua, C.; He, Y., Iterative learning control of electro-hydraulic proportional feeding system in slotting machine for metal bar cropping, Int. J. Mach. Tools Manuf., 45, 7, 923-931 (2005)
[5] Sun, G.; Liu, J., Dynamic responses of hydraulic crane during luffing motion, Mech. Mach. Theory, 41, 11, 1273-1288 (2006) · Zbl 1159.70335
[6] Mattila, J.; Koivumäki, J.; Caldwell, D. G.; Semini, C., A survey on control of hydraulic robotic manipulators with projection to future trends, IEEE/ASME Trans. Mechatron., 22, 2, 669-680 (2017)
[7] Yang, G.; Yao, J.; Le, G.; Ma, D., High precise tracking control for a chain of integrator systems with modelling uncertainties, Trans. Inst. Meas. Control., 39, 11, 1710-1720 (2017)
[8] Yao, B.; Tomizuka, M., Adaptive robust control of SISO nonlinear systems in a semi-strict feedback form, Automatica, 33, 5, 893-900 (1997) · Zbl 0876.93083
[9] Yao, B.; Bu, F.; Chiu, G. T.C., Non-linear adaptive robust control of electro-hydraulic systems driven by double-rod actuators, Int. J. Control, 74, 8, 761-775 (2001) · Zbl 1015.93045
[10] Guan, C.; Pan, S., Nonlinear adaptive robust control of single-rod electro-hydraulic actuator with unknown nonlinear parameters, IEEE Trans. Control Syst. Technol., 16, 3, 434-445 (2008)
[11] Mohanty, A.; Yao, B., Indirect adaptive robust control of hydraulic manipulators with accurate parameter estimates, IEEE Trans. Control Syst. Technol., 19, 3, 567-575 (2011)
[12] Wang, Y.; Luo, G.; Gu, L.; Li, X., Fractional-order nonsingular terminal sliding mode control of hydraulic manipulators using time delay estimation, J. Vib. Control, 22, 19, 3998-4011 (2016)
[13] Guan, C.; Pan, S., Adaptive sliding mode control of electro-hydraulic system with nonlinear unknown parameters, Control Eng. Pract., 16, 11, 1275-1284 (2008)
[14] Lin, Y.; Shi, Y.; Burton, R., Modeling and robust discrete-time sliding-mode control design for a fluid power electrohydraulic actuator (EHA) system, IEEE/ASME Trans. Mechatron., 18, 1, 1-10 (2013)
[15] Yao, J., Model-based nonlinear control of hydraulic servo systems: challenges, developments and perspectives, Front. Mech. Eng. China, 13, 2, 179-210 (2018)
[16] Yang, G.; Yao, J.; Le, G.; Ma, D., Adaptive integral robust control of hydraulic systems with asymptotic tracking, Mechatronics, 40, 78-86 (2016)
[17] Pi, Y.; Wang, X., Observer-based cascade control of a 6-DOF parallel hydraulic manipulator in joint space coordinate, Mechatronics, 20, 6, 648-655 (2010)
[18] Yao, J.; Deng, W., Active disturbance rejection adaptive control of hydraulic servo systems, IEEE Trans. Ind. Electron., 64, 10, 8023-8032 (2017)
[19] Guo, K.; Wei, J.; Fang, J.; Wang, X., Position tracking control of electro-hydraulic single-rod actuator based on an extended disturbance observer, Mechatronics, 27, 47-56 (2015)
[20] Won, D.; Kim, W.; Shin, D.; Chung, C. C., High-gain disturbance observer-based backstepping bontrol with output tracking error constraint for electro-hydraulic systems, IEEE Trans. Control Syst. Technol., 23, 2, 787-795 (2015)
[21] Minorsky, N., Directional stability and automatically steered bodies, J. Am. Soc. Nav. Eng., 34, 2, 280-309 (1922)
[22] Kim, W.; Won, D.; Shin, D.; Chung, C. C., Output feedback nonlinear control for electro-hydraulic systems, Mechatronics, 22, 6, 766-777 (2012)
[23] Guo, Q.; Yu, T.; Jiang, D., High-gain observer-based output feedback control of single-rod electro-hydraulic actuator, IET Control Theory Appl., 9, 16, 2395-2404 (2015)
[24] Gao, Z., Active disturbance rejection control: a paradigm shift in feedback control system design, (Proceedings of the American Control Conference (2006)), 2399-2405
[25] Han, J., From PID to active disturbance rejection control, IEEE Trans. Ind. Electron., 56, 3, 900-906 (2009)
[26] Han, J., Extended state observer for a class of uncertain plants, in Chinese, Control Decis., 10, 1, 85-88 (1995)
[27] Yao, J.; Jiao, Z.; Ma, D., Extended-state-observer-based output feedback nonlinear robust control of hydraulic systems with backstepping, IEEE Trans. Ind. Electron., 61, 11, 6285-6293 (2014)
[28] Guo, Q.; Zhang, Y.; Celler, B. G., Backstepping control of electro-hydraulic system based on extended-state-observer with plant dynamics largely unknown, IEEE Trans. Ind. Electron., 63, 11, 6909-6920 (2016)
[29] Chen, M.; Ge, S. S., Adaptive neural output feedback control of uncertain nonlinear systems with unknown hysteresis using disturbance observer, IEEE Trans. Ind. Electron., 62, 12, 7706-7716 (2015)
[30] Chen, W.-. H., Disturbance observer based control for nonlinear systems, IEEE/ASME Trans. Mechatron., 9, 4, 706-710 (2004)
[31] Chen, W.-. H.; Yang, J.; Guo, L.; Li, S., Disturbance-observer-based control and related methods-an overview, IEEE Trans. Ind. Electron., 63, 2, 1083-1095 (2016)
[32] Makkar, C.; Dixon, W. E.; Sawyer, W. G., A new continuously differentiable friction model for control systems design, (Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics (2005)), 600-605
[33] Yao, B., Desired compensation adaptive robust control, ASME J. Dyn. Syst. Meas. Control, 131, 6, 1-7 (2009)
[34] Yang, G.; Yao, J.; Le, G.; Ma, D., Asymptotic output tracking control of electro-hydraulic systems with unmatched disturbances, IET Control Theory Appl., 10, 18, 2543-2551 (2016)
[35] Min, H.; Xu, S.; Ma, Q.; Zhang, B.; Zhang, Z., Composite observer-based output-feedback control for nonlinear time-delay systems with input saturation and its application, IEEE Trans. Ind. Electron., 65, 7, 5856-5863 (2018)
[36] Guo, B.-. Z.; Zhao, Z.-. L., On the convergence of an extended state observer for nonlinear systems with uncertainty, Syst. Control Lett., 60, 6, 420-430 (2011) · Zbl 1225.93056
[37] Krstic, M.; Kanellakopoulos, I.; Kokotovic, P. V., Nonlinear and Adaptive Control Design (1995), John Wiley & Sons: John Wiley & Sons New York, USA · Zbl 0763.93043
[38] Yao, J.; Jiao, Z.; Ma, D., RISE-based precision motion control of dc motors with continuous friction compensation, IEEE Trans. Ind. Electron., 61, 12, 7067-7075 (2014)
This reference list is based on information provided by the publisher or from digital mathematics libraries. Its items are heuristically matched to zbMATH identifiers and may contain data conversion errors. It attempts to reflect the references listed in the original paper as accurately as possible without claiming the completeness or perfect precision of the matching.