Coupled-disturbance-observer-based position tracking control for a cascade electro-hydraulic system.
Coupled-disturbance-observer-based position tracking control for a cascade electro-hydraulic system.
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DOI：
10.1016/j.isatra.2017.02.014
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发表时间：
2017-05
期刊：
影响因子：
7.3
通讯作者：
Qing Guo;Jingmin Yin;Tian Yu;D. Jiang
中科院分区：
文献类型：
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作者：
Qing Guo;Jingmin Yin;Tian Yu;D. Jiang
干扰抑制是电液系统中最常见的控制问题之一。特别是在很大程度上，一个未知的扰动往往会通过偏置期望的执行器输出(例如，负载力或力矩)而明显降低动态性能。为了抑制电液驱动的多自由度机械臂的动态扰动，提出了一种基于耦合扰动观测器的串级电液系统状态反馈控制方法。设计了耦合扰动观测器来估计每个电液执行器外部载荷的独立分量和耦合分量。串级控制器具有补偿扰动估计的能力，并保证系统状态误差收敛到给定的稳态水平。通过对比研究，证明了所提出的控制器对大范围未知扰动的抑制效果，表明所提出的控制方法在二自由度机械臂运动控制中具有较好的动态性能。
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.