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Disturbance observer based position tracking of electro-hydraulic actuator

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Abstract

A nonlinear controller based on an extended second-order disturbance observer is presented to track desired position for an electro-hydraulic single-rod actuator in the presence of both external disturbances and parameter uncertainties. The proposed extended second-order disturbance observer deals with not only the external perturbations, but also parameter uncertainties which are commonly regarded as lumped disturbances in previous researches. Besides, the outer position tracking loop is designed with cylinder load pressure as output; and the inner pressure control loop provides the hydraulic actuator the characteristic of a force generator. The stability of the closed-loop system is provided based on Lyapunov theory. The performance of the controller is verified through simulations and experiments. The results demonstrate that the proposed nonlinear position tracking controller, together with the extended second-order disturbance observer, gives an excellent tracking performance in the presence of parameter uncertainties and external disturbance.

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Authors and Affiliations

  1. State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou, 310027, China

    Kai Guo  (国凯), Jian-hua Wei  (魏建华) & Qi-yan Tian  (田启岩)

Authors
  1. Kai Guo  (国凯)
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  2. Jian-hua Wei  (魏建华)
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  3. Qi-yan Tian  (田启岩)
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Corresponding author

Correspondence to Jian-hua Wei  (魏建华).

Additional information

Foundation item: Project(51221004) supported by the Science Fund for Creative Research Groups of National Natural Science Foundation of China; Project(2012AA041801) supproted by the High-tech Research and Development Program of China

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Guo, K., Wei, Jh. & Tian, Qy. Disturbance observer based position tracking of electro-hydraulic actuator. J. Cent. South Univ. 22, 2158–2165 (2015). https://doi.org/10.1007/s11771-015-2740-2

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  • DOI: https://doi.org/10.1007/s11771-015-2740-2

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