期刊
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
卷 61, 期 11, 页码 6285-6293出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TIE.2014.2304912
关键词
Extended state observer (ESO); hydraulic systems; nonlinear control; output feedback; robust control; uncertainties
资金
- National Natural Science Foundation of China [51305203]
- Specialized Research Fund for the Doctoral Program of Higher Education (Ministry of Education of China) [20133219120026]
- Jiangsu Planned Projects for Postdoctoral Research Funds in China [1302002A]
- National Key Basic Research Program of China [2014CB046406]
In this paper, an output feedback nonlinear control is proposed for a hydraulic system with mismatched modeling uncertainties in which an extended state observer (ESO) and a nonlinear robust controller are synthesized via the backstepping method. The ESO is designed to estimate not only the unmeasured system states but also the modeling uncertainties. The nonlinear robust controller is designed to stabilize the closed-loop system. The proposed controller accounts for not only the nonlinearities (e.g., nonlinear flow features of servovalve), but also the modeling uncertainties (e.g., parameter derivations and unmodeled dynamics). Furthermore, the controller theoretically guarantees a prescribed tracking transient performance and final tracking accuracy, while achieving asymptotic tracking performance in the absence of time-varying uncertainties, which is very important for high-accuracy tracking control of hydraulic servo systems. Extensive comparative experimental results are obtained to verify the high-performance nature of the proposed control strategy.
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