An output feedback control algorithm with command filtering is proposed to solve the problem of uncertain nonlinear and unmeasurable state in the nonmatching model of electro-hydraulic servo systems. Through the effective integration of the extended state observer and command filtering technique, the state and external disturbances of the system are estimated by the extended state observer, the unmeasurable and uncertain nonlinear state problems are solved, and simultaneously the active compensation for disturbances is implemented. In process of controller design, the ‘differential explosion’ problem in backstepping scheme is avoided by using the command filter. Based on the Lyapunov function, the stability of the designed controller is proved and all the signals are bounded. The experimental results verify the effectiveness of the designed controller.
WANG Guangwen,YAO Jianyong
. Output Feedback Control of Electro-Hydraulic Servo
Systems with Command Filter[J]. Journal of Shanghai Jiaotong University, 2019
, 53(12)
: 1482
-1487
.
DOI: 10.16183/j.cnki.jsjtu.2019.12.011
［1］MERRITT H E. Hydraulic control systems ［M］. New York: Wiley, 1967: 100-175.
［2］YAO J, JIAO Z, SHANG Y, et al. Adaptive nonlinear optimal compensation control for electro-hydraulic load simulator［J］. Chinese Journal of Aeronautics, 2010, 23(6): 720-733.
［3］AHN K, NAM D, JIN M. Adaptive backstepping control of an electrohydraulic actuator［J］. IEEE/ASME Transactions on Mechatronics, 2014, 19(3): 987-995.
［4］刘龙, 姚建勇, 胡健, 等.基于干扰观测器的电液位置伺服系统跟踪控制［J］.兵工学报, 2015, 36(11): 2053-2061.
LIU Long, YAO Jianyong, HU Jian, et al. Tracking control for electro-hydraulic positioning servo system based on disturbance observer［J］. Acta Armamentarii, 2015, 36 (11): 2053-2061.
［5］REN H P, GONG P F. Adaptive control of hydraulic position servo system using output feedback［J］. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 2017, 231(7): 527-540.
［6］徐张宝, 马大为, 姚建勇, 等. 基于干扰估计的直流电动机间接自适应鲁棒控制［J］.上海交通大学学报, 2015, 49(9): 1281-1287.
XU Zhangbao, MA Dawei, YAO Jianyong, et al. Indirect adaptive robust control of DC motors with finite-time disturbance observer［J］. Journal of Shanghai Jiao Tong University, 2015, 49(9): 1281-1287.
［7］YAO B, BU F, REEDY J, et al. Adaptive robust motion control of single-rod hydraulic actuators: Theory and experiments［C］//Proceedings of the 1999 American Control Conference. New York: IEEE, 2000: 759-763.
［8］邓文翔, 马吴宁, 姚建勇. 机电伺服系统鲁棒自适应重复控制［J］. 上海交通大学学报, 2016, 50(9): 1486-1492.
DENG Wenxiang, MA Wuning, YAO Jianyong. Robust adaptive repetitive control of mechatronic servo system［J］. Journal of Shanghai Jiao Tong University, 2016, 50(9): 1486-1492.
［9］DENG W X, LUO C Y, YAO J Y, et al. Extended state observer based output feedback asymptotic tracking control of DC motors［C］//2015 34th Chinese Control Conference (CCC). Hangzhou: IEEE, 2015: 4262-4267.
［10］YAO J, JIAO Z, MA D. Extended-state-observer-based output feedback nonlinear robust control of hydraulic systems with backstepping［J］. IEEE Transactions on Industrial Electronics, 2014, 61(11): 6285-6293.
［11］YANG G C, YAO J Y, LE G G, et al. Adaptive robust control of DC motors with time-varying output constraints［C］//2015 34th Chinese Control Confe-rence (CCC), Hangzhou: IEEE, 2015: 4256-4261
［12］FARRELL J A, POLYCARPOU M, SHARMA M, et al. Command filtered backstepping［C］//2008 American Control Conference, New York: IEEE, 2009: 1391-1395.
［13］DONG W, FARRELL J, POLYCARPOU M, et al. Command filtered adaptive backstepping［J］. IEEE Transactions on Control Systems Technology, 2012, 20(3): 566-580.
［14］方一鸣, 石胜利, 李建雄, 等. 基于指令滤波的电液伺服系统自适应反步控制［J］. 电机与控制学报, 2013, 17(9): 105-110.
FANG Yiming, SHI Shengli, LI Jianxiong, et al. Adaptive backstepping control for electro-hydraulic servo system with input saturation based on command filter［J］. Electric Machines and Control, 2013, 17(9): 105-110.
［15］ZHENG Q, GAO L Q, GAO Z Q. On stability analysis of active disturbance rejection control for nonlinear time-varying plants with unknown dynamics［C］//2007 46th IEEE Conference on Decision and Control, New York: IEEE, 2007: 3501-3506.
