期刊
ISA TRANSACTIONS
卷 68, 期 -, 页码 367-380出版社
ELSEVIER SCIENCE INC
DOI: 10.1016/j.isatra.2017.02.014
关键词
Electro-hydraulic system; Cascade controller; Coupled disturbance observer; Two-Degree-of-Freedom robotic arm
资金
- National Natural Science Foundation of China, China [61305092, 51205045, 61522302]
- Open Foundation of the State Key Laboratory of Fluid Power Transmission and Control [GZKF-201515]
The disturbance suppression is one of the most common control problems in electro-hydraulic systems. especially largely an unknown disturbance often obviously degrades the dynamic performance by biasing the desired actuator outputs (e.g., load forces or torques). In order to reject the dynamic disturbances in some multi-degree-of-freedom manipulators driven by electro-hydraulic actuators, this paper proposes a state feedback control of the cascade electro-hydraulic system based on a coupled disturbance observer with backstepping. The coupled disturbance observer is designed to estimate both the independent element and the coupled element of the external loads on each electro-hydraulic actuator. The cascade controller has the ability to compensate for the disturbance estimating, as well as guarantees the system state error convergence to a prescribed steady state level. The effectiveness of the proposed controller for the suppression of largely unknown disturbances has been demonstrated by comparative study, which implies the proposed approach can achieve better dynamic performance on the motion control of Two-Degree-of-Freedom robotic arm. (C) 2017 ISA. Published by Elsevier Ltd. All rights reserved.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据