Adaptive dynamic surface control using nonlinear disturbance observers for position tracking of electro-hydraulic servo systems
Adaptive dynamic surface control using nonlinear disturbance observers for position tracking of electro-hydraulic servo systems
复制标题
使用非线性扰动观测器进行电液伺服系统位置跟踪的自适应动态表面控制
DOI：
10.1177/09596518211037096
复制
发表时间：
2021-08-03
影响因子：
1.6
通讯作者：
Shen, Gang
中科院分区：
文献类型：
--
作者：
Sa, Yunjie;Zhu, Zhencai;Shen, Gang
提出了一种带非线性扰动观测器的自适应动态面控制方法，用于电液伺服系统在未知时变内外扰动下的精确位置跟踪。该控制器采用动态面控制方法，改善了传统反推方法固有的复杂性差分爆炸问题，大大简化了控制器的设计过程。利用所设计的非线性扰动观测器对电液伺服系统的内、外部扰动进行在线估计，有效地抑制了未知时变扰动引起的性能退化。为了进一步补偿系统的时变不确定参数，设计了参数自适应更新律，并将其结合到所设计的控制器中，以实现电液伺服系统的精确位置跟踪。通过严格的Lyapunov分析，从理论上保证了该控制器的闭环稳定性。在一个典型的单自由度电液伺服系统上进行了对比实验，实验验证了该控制器的可行性和优越性。
In this article, an adaptive dynamic surface control method with nonlinear disturbance observers is proposed for accurate position tracking of an electro-hydraulic servo system with unknown time-varying inner or external disturbances. The dynamic surface control approach adopted in the proposed controller is used to ameliorate the inherent complexity differentiation explosion of traditional backstepping method, which significantly simplifies the controller design process. The designed nonlinear disturbance observers are exploited to online estimate the inner or external disturbances of electro-hydraulic servo systems, and the performance degradation resulted from unknown time-varying disturbances is effectively suppressed. To further compensate for the system's time-varying uncertain parameters, parameter adaptive updating laws are designed and combined in the proposed controller for accurate position tracking of electro-hydraulic servo systems. The closed-loop stability of the proposed controller is theoretically guaranteed by rigorous Lyapunov analysis. Comparative experimental results are carried out on a typical single-degree-of-freedom electro-hydraulic servo system, and the feasibility together with the superiority of the proposed controller is experimentally validated.