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A Novel Trajectory Adjustment Mechanism-Based Prescribed Performance Tracking Control for Electro-Hydraulic Systems Subject to Disturbances and Modeling Uncertainties

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Abstract
This paper proposes a novel active disturbance compensation framework for exactly positioning control of electro-hydraulic systems (EHSs) subject to parameter deviations, unknown dynamics, and uncertain external load without velocity measurement mechanism. In order to accurately estimate and then actively compensate for the effects of these uncertainties and disturbances on the system dynamics, a combination between an extended sliding mode observer (ESMO) and a linear extended state observer (LESO) is firstly established for position control of EHSs. In addition, an inherited nonlinear filter-based trajectory planner with minor modifications is utilized to overcome the barriers of inappropriate desired trajectories which do not consider the system kinematic and dynamic constraints. Furthermore, for the first time, the command filtered (CF) approach and prescribed performance control (PPC) are successfully coordinated together and dexterously integrated into the backstepping framework to not only mitigate the computational cost significantly and avoid the “explosion of complexity” of the traditional backstepping design but also satisfy the predetermined transient tracking performance indexes including convergence rate, overshoot, and steady-state error. The stabilities of the observers and overall closed-loop system are rigorously proven by using the Lyapunov theory. Finally, comparative numerical simulations are conducted to demonstrate the advantages of the proposed approach.
Author(s)
Manh Hung NguyenKyoung Kwan Ahn
Issued Date
2022
Type
Article
Keyword
active disturbance compensation controlADCCextended sliding mode observerESMOlinear extended state observerLESOcommand filtered approachCFAprescribed performance controlPPCelectro-hydraulic systemEHStrajectory plannerTP
DOI
10.3390/app12126034
URI
https://oak.ulsan.ac.kr/handle/2021.oak/15265
Publisher
APPLIED SCIENCES-BASEL
Language
영어
ISSN
2076-3417
Citation Volume
12
Citation Number
12
Citation Start Page
1
Citation End Page
24
Appears in Collections:
Engineering > Mechanical and Automotive Engineering
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