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- Title
Extended sliding mode observer‐based high‐accuracy motion control for uncertain electro‐hydraulic systems.
- Authors
Nguyen, Manh Hung; Dao, Hoang Vu; Ahn, Kyoung Kwan
- Abstract
In this paper, a novel robust backstepping control strategy is introduced to achieve high‐accuracy tracking performance for electro‐hydraulic servo systems (EHSSs) without velocity information in the presence of uncertainties and disturbances. Firstly, system dynamics of the studied EHSS considering parameter deviations, modeling errors, and unknown external loads which are grouped into lumped mismatched and matched disturbances in the mechanical system and pressure dynamics, respectively, are developed. On the basis of the sliding mode theory, two extended sliding mode observers (ESMOs) are originally established to simultaneously estimate the immeasurable angular velocity of the actuator, and lumped mismatched and matched uncertainties. As a consequence, an observer‐based controller is designed using the conventional backstepping technique to ensure a highly accurate tracking position control. In addition, the stability of the observer and overall closed‐loop control system is conclusively proven through the Lyapunov theory. Finally, several numerical simulations for an EHSS with a hydraulic rotary actuator are conducted to demonstrate the advantage of the recommended method compared to the existing well‐known extended state observer‐based control approaches.
- Subjects
UNCERTAIN systems; CLOSED loop systems; MOTION; ADAPTIVE control systems; ROBUST control; ANGULAR velocity; SYSTEM dynamics
- Publication
International Journal of Robust & Nonlinear Control, 2023, Vol 33, Issue 2, p1351
- ISSN
1049-8923
- Publication type
Article
- DOI
10.1002/rnc.6421