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Accurate Position Regulation of an Electro-Hydraulic Actuator via Uncertainty Compensation-Based Controller

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Emerging Trends in Sliding Mode Control

Part of the book series: Studies in Systems, Decision and Control ((SSDC,volume 318))

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Abstract

Electro-hydraulic actuators are complex systems with uncertainties in their parameters and disregarded dynamics due to its complexity. This paper presents a disturbance observer-based controller method for the accurate position regulation of an electro-hydraulic actuator. To this aim, a super-twisting algorithm-based observer identifies the plant uncertainties and neglected dynamics, theoretically, in finite-time. Thus, a compensation based controller is designed to counteract the uncertainty and neglected dynamics effects through feedback, improving the position regulation accuracy. The closed-loop analysis is carried out using Lyapunov theory. The feasibility of the controller is validated through high-fidelity simulations and experiments in a forestry crane.

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Author information

Authors and Affiliations

  1. Instituto Politécnico Nacional—CITEDI, Avenida Instituto Politécnico Nacional No. 1310, Colonia Nueva Tijuana, 22435, Tijuana, Mexico

    Ramón I. Verdés, Alejandra Ferreira de Loza & Luis T. Aguilar

  2. Department of Applied Physics and Electronics, Umeä University, SE-901 87, Umeä, Sweden

    Ismael Castillo & Leonid Freidovich

Authors
  1. Ramón I. Verdés
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  2. Alejandra Ferreira de Loza
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  3. Luis T. Aguilar
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  4. Ismael Castillo
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  5. Leonid Freidovich
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Corresponding author

Correspondence to Alejandra Ferreira de Loza .

Editor information

Editors and Affiliations

  1. Department of Electrical Engineering, Institute of Infrastructure, Technology, Research and Management, Ahmedabad, Gujarat, India

    Axaykumar Mehta

  2. Interdisciplinary Programme in Systems and Control Engineering, Indian Institute of Technology Bombay, Mumbai, Maharashtra, India

    Bijnan Bandyopadhyay

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Verdés, R.I., Ferreira de Loza, A., Aguilar, L.T., Castillo, I., Freidovich, L. (2021). Accurate Position Regulation of an Electro-Hydraulic Actuator via Uncertainty Compensation-Based Controller. In: Mehta, A., Bandyopadhyay, B. (eds) Emerging Trends in Sliding Mode Control. Studies in Systems, Decision and Control, vol 318. Springer, Singapore. https://doi.org/10.1007/978-981-15-8613-2_12

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