Journal of Northeastern University Natural Science ›› 2020, Vol. 41 ›› Issue (9): 1310-1315.DOI: 10.12068/j.issn.1005-3026.2020.09.016

• Mechanical Engineering • Previous Articles     Next Articles

Output Feedback Adaptive Command Filtered Control of Electrohydraulic Actuator

YE Ning1, SONG Jin-chun1, GAO Xi-ying2, YU Zhong-liang1   

  1. 1. School of Mechanical Engineering & Automation, Northeastern University, Shenyang 110819, China; 2. Customer Service Measurement Center, State Grid Liaoning Electric Power Research Institute, Shenyang 110006, China.
  • Received:2019-04-02 Revised:2019-04-02 Online:2020-09-15 Published:2020-09-15
  • Contact: YE Ning
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Abstract: This paper proposed an output feedback adaptive robust command filtered control (CFC) scheme for tracking control of electrohydraulic actuator subjected to both structured and unstructured uncertainties. The proposed output feedback controller is developed by combining a modified LuGre friction compensation method and an adaptive robust CFC method. The adaptive law is raised to deal with the structured uncertainties. The robust design of the proposed controller is used to deal with unstructured uncertainty. Except for the available position signals, speed, pressure, and friction status are all received by observation. Modeling errors from observation are compensated with a robust design. CFC technology is utilized to deal with the inherently complex explosion problem of the classic backstepping technology. The proposed controller can guarantee asymptotic stability. Comparative experiments were carried out to verify the tracking performance of the proposed approach.

Key words: command filtered control, output feedback, friction compensation, electrohydraulic actuator, adaptive robust

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