基于扩展状态观测器的二自由度电液伺服系统输出反馈控制

Q3 Mathematics

Results in Control and Optimization Pub Date : 2025-06-20 DOI:10.1016/j.rico.2025.100588

Ashpana Shiralkar , Shailaja Kurode , Bhagyashri Tamhane

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引用次数: 0

摘要

在二维子空间中定位载荷需要一个两自由度的位置控制系统。负载的精确定位一直是电液驱动及其鲁棒性控制的驱动动机。二自由度电液伺服系统是一个复杂的非线性系统。每个2自由度都用不确定的二阶模型逼近。提出了一种新的滑动变量，用于载荷的有限时间精确定位。采用高阶滑模设计了基于扩展状态观测器的控制器。对不确定性和状态进行估计，使控制器在有限时间内实现。仿真和实验验证了该方法的有效性。结果表明，该方法在二维子空间中具有鲁棒性和精度。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Extended state observer based output feedback control of 2 DoF electro hydraulic servo system

Positioning a load in a two-dimensional subspace requires a two-degrees-of-freedom (2 DoF) position control system. The precise positioning of the load has been the driving motivation for electro-hydraulic actuation and its robust control. 2 DoF electro-hydraulic servo system (EHSS) is complex and nonlinear. Each of the 2 DoF is approximated by the second order model with uncertainty. A new sliding variable is proposed for precise finite-time positioning of a load. The extended state observer based controller is devised using higher-order sliding modes. Uncertainties and states are estimated to implement the controller in a finite time. The method is verified in both simulation and experiment. It is shown that the proposed method yield robust and precise positioning of load in two-dimensional subspace.

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来源期刊

Results in Control and Optimization Mathematics-Control and Optimization

CiteScore

3.00

自引率

0.00%

发文量

审稿时长

91 days