Actuator Fault-Tolerant Control for an Electro-Hydraulic Actuator Using Time Delay Estimation and Feedback Linearization

Abstract

This article proposes a novel fault-tolerant controller for a double-rod electro-hydraulic actuator whilst the motion control system faces with system disturbances/uncertainties and internal leakage fault. Firstly, taking the advantage of the coordinate transformation, the nonlinear system is converted to a linear system to apply the control design tools in linear control theory. Besides, the matched, mismatched disturbances, and internal leakage fault are integrated into a new lumped uncertainty based on this transformation. Inspired by the great capability of time delay estimation technique, the suggested controller is developed to effectively detect and compensate for the internal leakage fault. To enhance the performance of the control system, an adaptive integral sliding mode control approach is deployed to effectively suppress the lump estimated error, and the effects of fault. The perfect combination of input-output feedback linearization, adaptive integral sliding mode, and time delay estimation is investigated to achieve high-precision tracking control and strong robustness in the presence of matched, mismatched disturbances, and faults, simultaneously. Moreover, the global stability of the suggested control algorithm is demonstrated by the Lyapunov theory. Finally, several tracking performance comparisons of the proposed approach with the existing controllers to demonstrate the efficiency are exhibited through simulation analyses and experiment results.