Observer-based motion axis control for hydraulic actuation systems

作     者：Xiaowei YANG Yaowen GE Wenxiang DENG Jianyong YAO Xiaowei YANG;Yaowen GE;Wenxiang DENG;Jianyong YAO

作者机构：School of Mechanical EngineeringNanjing University of Science and TechnologyNanjing 210094China 

出 版 物：《中国航空学报:英文版》 (Chinese Journal of Aeronautics)

年 卷 期：2023年第36卷第9期

页      面：408-415页

核心收录：

学科分类：0711[理学-系统科学] 07[理学] 0811[工学-控制科学与工程] 0701[理学-数学] 070101[理学-基础数学] 

基　　金：This work was supported in part by the National Key R&D Program of China(No.2021YFB2011300) the National Natural Science Foundation of China(No.52075262,51905271,52275062) the Fok Ying-Tong Education Foundation of China(No.171044) the Postgraduate Research&Practice Innovation Program of Jiangsu Province(No.KYCX22_0471) 

主　　题：Adaptive control Asymptotic convergence Hydraulic actuation system Sensor noise Unknown dynamics compensation 

摘      要：Unknown dynamics including mismatched mechanical dynamics(i.e.,parametric uncertainties,unmodeled friction and external disturbances)and matched actuator dynamics(i.e.,pressure and flow characteristic uncertainties)broadly exist in hydraulic actuation systems(HASs),which can hinder the achievement of high-precision motion axis *** surmount the practical issue,an observer-based control framework with a simple structure and low computation is developed for ***,a simple observer is utilized to estimate mismatched and matched unknown dynamics for feedforward *** combining the backstepping design and adaptive control,an appropriate observer-based composite controller is provided,in which nonlinear feedback terms with updated gains are adopted to further improve the tracking ***,a smooth nonlinear filter is introduced to shun the“explosion of complexityand attenuate the impact of sensor noise on control *** a result,this synthesized controller is more suitable for practical *** analysis uncovers that the developed controller assures the asymptotic convergence of the tracking *** merits of the proposed approach are validated via comparative experiment results applied in an HAS with an inertial load as well.