High-Precision Motion Control for Electro-Hydraulic Actuators with Parametric Uncertainty and Time-Varying Disturbance

doi:10.12068/j.issn.1005-3026.2024.10.009

Abstract

Abstract:

An asymptotic tracking control strategy is proposed for electro?hydraulic actuator （EHA） systems with parametric uncertainty， mismatched and matched time?varying disturbance. Firstly， an extended state observer （ESO） is constructed to estimate and compensate for the mismatched time?varying disturbance accurately. By introducing the robust adaptive term into the classical ESO， the asymptotic estimation result is obtained， and the conservatism of robust gain selection is reduced. Then， a robust adaptive term is designed to estimate the upper bound of the matched disturbance to eliminate the effect of the matched time-varying disturbance. In addition， adaptive laws are used to estimate the parametric uncertainty. Through the Lyapunov stability theory， it is proved that the tracking error can asymptotically converge to zero. Finally， the effectiveness of the proposed control strategy is verified by simulation and experiment.

Key words: electro?hydraulic actuator （EHA）, extended state observer （ESO）, time?varying disturbance, parametric uncertainty, asymptotic stability

CLC Number:

TH 137

Qian-kun LIANG, Yan CAI, Jin-chun SONG, Jie CHEN. High-Precision Motion Control for Electro-Hydraulic Actuators with Parametric Uncertainty and Time-Varying Disturbance[J]. Journal of Northeastern University(Natural Science), 2024, 45(10): 1435-1442.

Figures/Tables 10

Fig.1 Schematic diagram of the EHA system

Fig.2 Control schematic diagram of the EHA system

Fig.3 EHA system experimental platform

Table 1 Performance indices in experiment I

控制器	性能指标/mm
控制器	$M e$	$μ e$	$σ e$
AESOBC	0.535 7	0.102 7	0.081 73
CESOBC	0.638 8	0.135 6	0.121 6

Table 1 Performance indices in experiment I

控制器	性能指标/mm
控制器	$M e$	$μ e$	$σ e$
AESOBC	0.535 7	0.102 7	0.081 73
CESOBC	0.638 8	0.135 6	0.121 6

Fig.4 Velocity estimation error and mismatched disturbance estimation results of two controllers in experiment I

Fig.5 Control results in experiment I

Fig.6 Parameter estimation of the AESOBC controller in the experiment I

Fig.7 EHA system with external load

Table 2 Performance indices in experiment II

控制器	性能指标/mm
控制器	$M e$	$μ e$	$σ e$
AESOBC	0.603 9	0.108 4	0.086 62
CESOBC	0.654 7	0.210 1	0.136 3

Table 2 Performance indices in experiment II

控制器	性能指标/mm
控制器	$M e$	$μ e$	$σ e$
AESOBC	0.603 9	0.108 4	0.086 62
CESOBC	0.654 7	0.210 1	0.136 3

Fig.8 Tracking results in experiment II

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