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Robust precision control for a class of electro-hydraulic actuator system based on disturbance observer

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Abstract

This paper presents a new robust control scheme for a class of electro-hydraulic actuator using dynamic sliding mode control associated with nonlinear disturbance observer. Switching-gain of the sliding mode is designed to be adaptable on the estimated disturbance. A switching-gain adaptation mechanism is proposed to obtain as small as possible switching-gain to minimize chattering effect. The scheme is developed to guarantee the tracking precision of the system with robust and smooth control actions in the existence of uncertainties and the changes of external disturbance. Capability of the proposed scheme is enhanced by varying boundary layers algorithm to assist the scheme to return to its ability in a larger change of external disturbance. Capability and effectiveness of the proposed scheme are validated through experiment, where the results indicate that the proposed scheme ensures the tracking precision of the system with robust and smooth control actions in a large change of external load disturbance. Moreover, smooth control actions that are produced by the proposed control scheme offer a significant efficiency of energy in the control of electro-hydraulic actuator systems.

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Abbreviations

A 1 , A 2 :

Cross section area of the two chambers (m2)

a p :

Piston acceleration (m/s2)

C d :

Discharge coefficient

C v1 , C v2 :

Valve orifice coefficients

d :

External load disturbance

D :

Lumped disturbance

e :

Error trajectory

f :

Nonlinear dynamics

F a :

Hydraulic actuating force (N)

F f :

Hydraulic friction force (N)

f d :

Lumped uncertain nonlinearities

g :

Control gain

g min , g max :

Lower and upper bounds of the control gain

k :

Spring constant (N/m)

K :

Reaching time function

k a :

Servo valve gain (m/V)

k v :

Viscous friction (N s/m)

L :

Disturbance observer gain

m :

Total mass of the piston and load (kg)

p 1 , p 2 :

Pressure in chambers 1 and 2 (Pa)

Q :

Discontinuous switching gain

S :

Sliding surface

u, u eq , u n :

Total, equivalent and switching control (V)

V :

Lyapunov function

v p :

Piston velocity (m/s)

V 1 , V 2 :

Total volume in chambers 1 and 2 (m3)

x d :

Desired position (m)

x p :

Piston position (m)

β e :

Effective bulk modulus (Pa)

φ :

Thickness of boundary layer

ρ :

Fluid mass density (kg/m3)

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Authors and Affiliations

  1. Department of Control and Mechatronics Engineering, Faculty of Electrical Engineering, Universiti Teknologi Malaysia Johor Bahru, Skudai, Johor, 81310, Malaysia

    Zulfatman Has, Mohd. Fua’ad Rahmat, Abdul Rashid Husain & Mohd. Noh Ahmad

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  1. Zulfatman Has
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  2. Mohd. Fua’ad Rahmat
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  3. Abdul Rashid Husain
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  4. Mohd. Noh Ahmad
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Correspondence to Mohd. Fua’ad Rahmat.

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Has, Z., Rahmat, M.F., Husain, A.R. et al. Robust precision control for a class of electro-hydraulic actuator system based on disturbance observer. Int. J. Precis. Eng. Manuf. 16, 1753–1760 (2015). https://doi.org/10.1007/s12541-015-0230-y

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  • DOI: https://doi.org/10.1007/s12541-015-0230-y

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