Extended Sliding Mode Observer-Based Output Feedback Control for Motion Tracking of Electro-Hydrostatic Actuators

Manh Hung Nguyen and Kyoung Kwan Ahn ()
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Manh Hung Nguyen: School of Mechanical and Automotive Engineering, University of Ulsan, Daehakro 93, Namgu, Ulsan 44610, Republic of Korea
Kyoung Kwan Ahn: School of Mechanical and Automotive Engineering, University of Ulsan, Daehakro 93, Namgu, Ulsan 44610, Republic of Korea

Mathematics, 2023, vol. 11, issue 20, 1-19

Abstract: This paper develops a novel output feedback control scheme for the motion-tracking problem of an electro-hydrostatic actuator (EHA) in the presence of model uncertainties and external disturbances. Firstly, a simplified third-order system model of the studied EHA is established using theoretical methods. For the first time, an extended sliding mode observer (ESMO) is introduced to simultaneously account for the shortage of unknown system states and modeling imperfections. Based on this, a robust nonlinear controller is developed using the backstepping control framework to stabilize the closed-loop system. This controller integrates estimates of immeasurable system states and lumped disturbances to deal with their adverse impacts. Moreover, the dynamic surface control (DSC) technique is employed to effectively mitigate the computational burden of the traditional backstepping framework. An ultimately uniformly bounded (UUB) performance is assured by using the recommended method. Furthermore, the stability of not only the observer but also the closed-loop system is concretely analyzed by using the Lyapunov theory. Finally, experiment results under various working scenarios are given to convincingly demonstrate the advantage of the suggested method in comparison with some reference control approaches.

Keywords: electro-hydrostatic actuator; pump-controlled hydraulic system; extended sliding mode observer; output feedback control; dynamic surface control (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2023
References: View references in EconPapers View complete reference list from CitEc
Citations: View citations in EconPapers (1)

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