Output feedback control for hydraulic servo systems with unknown actuator dynamics

被引：0
|
作者：
Na J. [1 ]
Dong Y. [1 ]
Ding H.-G. [2 ]
Han S.-C. [1 ]
机构：
[1] Faculty of Mechanical and Electrical Engineering, Kunming University of Science and Technology, Kunming
[2] School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou
来源：
Kongzhi yu Juece/Control and Decision | 2020年 / 35卷 / 05期
关键词：
Backstepping free; Hydraulic servo system; Output feedback control; Unknown system dynamic estimator;
D O I：
10.13195/j.kzyjc.2019.1252
中图分类号：
学科分类号：
摘要：
This paper proposes an output feedback control method for hydraulic servo systems with unknown dynamics (e. g., actuator dynamics and load variations). This control is an approximation-free approach, and does not need unmeasurable system states. To avoid using tedious backstepping scheme, we introduce a coordinate transform to reformulate the high-order hydraulic servo system model in the strict-feedback form into a Brunovsky form. Then, the high-order sliding mode differentiator(HSMD) is used to reconstruct the unknown states of the derived Brunovsky model. Moreover, a prescribed performance function(PPF) characterizing the error convergence rate, maximum overshoot and steady-state error is utilized in the control design to guarantee both the transient and steady-state performance. To accommodate the lumped unknown dynamics, an unknown system dynamic estimator(USDE) with only one tuning parameter is developed, which retains exponential error convergence and thus helps to achieve precise position tracking control. Simulation results verify the effectiveness of the presented method. © 2020, Editorial Office of Control and Decision. All right reserved.
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页码：1077 / 1084
页数：7
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