Quasi-synchronous control of uncertain multiple electrohydraulic systems with prescribed performance constraint and input saturation

作     者：Shuai LI Qing GUO Yan SHI Yao YAN Dan JIANG Shuai LI;Qing GUO;Yan SHI;Yao YAN;Dan JIANG

作者机构：School of Aeronautics and AstronauticsUniversity of Electronic Science and Technology of ChinaChengdu 611731China School of Automation Science and Electrical EngineeringBeihang UniversityBeijing 100191China School of Mechanical and Electrical EngineeringUniversity of Electronic Science and Technology of ChinaChengdu 611731China 

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

年 卷 期：2023年第36卷第9期

页      面：416-425页

核心收录：

学科分类：080805[工学-电工理论与新技术] 0808[工学-电气工程] 080202[工学-机械电子工程] 08[工学] 080401[工学-精密仪器及机械] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 0811[工学-控制科学与工程] 

基　　金：This study was co-supported by the National Natural Science Foundation of China(Nos.52175046,51975024,and 12072068) Sichuan Science and Technology Program(Nos.2022JDRC0018 and 2022YFG0341) 

主　　题：Backstepping Dynamic surface Finite-time disturbance observer Input saturation Multiple Electrohydraulic Systems Output error constraint Quasi-synchronous control 

摘      要：This article focuses on the high accuracy quasi-synchronous control issue of multiple electrohydraulic systems(MEHS).In order to overcome the negative effects of parameter uncertainty and external load interference of MEHS,a kind of finite-time disturbance observer(FTDO)via terminal sliding mode method is constructed based on the MEHS model to achieve fast and accuracy estimation and compensation *** avoid the differential explosion in backstepping iteration,the dynamic surface control is used in this paper to guarantee the follower electrohydraulic nodes synchronize to the leader motion with a better ***,a timevarying barrier Lyapunov function(tvBLF)is adopted during the controller design process to constraint the output tracking error of MEHS in a prescribed performance with time-varying exponential *** the initial state condition is relax by tvBLF,the input saturation law is also adopted during the controller design process in this paper to restrain the surges of input signals,which can avoid the circuit and mechanical structure damage caused by the volatile input *** MEHS experimental bench is constructed to verify the effectiveness of the theoretical conclusions proposed in this paper and the advantages of the proposed conclusions in this paper are illustrated by a series of contradistinctive experimental results.