Adaptive extended state observer-based flatness nonlinear output control for torque tracking of electrohydraulic loading system

Jing, Chenghu; Xu, Haibo; Song, Xiaoming; Lu, Biao

doi:10.1177/0142331217713835

Cited by 21 publications

(12 citation statements)

References 44 publications

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“…It can be seen from equation 13that an excessively large error gain coefficient will intensify the peak output phenomenon of LESO at the initial time ( () et 、 () et and () et are inherent characteristics of the system and cannot be changed). This leads to the contradiction between the high gain LESO tracking accuracy and the initial peak is not adjustable [23].…”

Section: T X T E T Z T Z a E T Z T Z A E T B U Tmentioning

confidence: 99%

Research and Simulation of DC Microgrid Three-Phase AC-DC Converter Control Strategy Based on Double Loop

Gao

Zhou

et al. 2020

IEEE Access

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The new voltage and current double loop control strategy is proposed to solve the DC microgrid bus voltage fluctuation caused by loads fluctuation, parameters perturbation and unbalanced three-phase power supply. Firstly, the dq axis mathematical model of three-phase AC-DC bidirectional converter in DC microgrid is analyzed and established, and then the controllers are designed according to the dq axis mathematical model. The outer loop is a voltage loop based on variable gain linear extended state observer (VGLESO) and sliding mode theory. VGLESO can not only effectively overcome the problem of peak output of traditional high-gain LESO in the initial stage of operation, and ensure that the system has good startup characteristics, but also quickly track and compensate the total disturbance of the system without additional current sensors. The inner loop is a current loop based on adaptive PI, which can eliminate the influence of system parameters perturbation on bus voltage and improve the system's adaptability. Under the action of the inner and outer loops, the system has good dynamic and static characteristics. Finally, the feasibility and correctness of the control strategy are verified by Matlab/Simulink.

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Section: T X T E T Z T Z a E T Z T Z A E T B U Tmentioning

confidence: 99%

Research and Simulation of DC Microgrid Three-Phase AC-DC Converter Control Strategy Based on Double Loop

Gao

Zhou

et al. 2020

IEEE Access

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“…The EHFLS can adjust torque through the valve-controlled symmetrical hydraulic cylinder. According to oil circuit of the valve-controlled symmetrical hydraulic cylinder shown in Figure 3, the dynamic behavior of a valve-controlled hydraulic cylinder is given by 16,34…”

Section: Ehflsmentioning

confidence: 99%

“…To avoid motion disturbance from the tested actuator, a novel kind of electro-hydraulic load simulator was developed. 15,16 This electro-hydraulic friction load simulator (EHFLS) could generate friction torque between two relatively moving friction plates to simulate load, which do not suffer from motion disturbance from the tested actuator.…”

Section: Introductionmentioning

confidence: 99%

Flatness-based adaptive nonlinear control for torque tracking of electro-hydraulic friction load simulator with uncertainties

Jing

Jiang

2018

Proceedings of the Institution of Mechanical Engineers, Part I:

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Electro-hydraulic friction load simulator is able to simulate load for detecting and estimating the actuator system, which requires an ability to track accurately a given signal with high frequency. In this article, a flatness-based adaptive nonlinear controller is proposed for electro-hydraulic friction load simulator with parameter uncertainties to improve torque-tracking performance. The proposed control consists of state feedback, desired input feedforward and adaptive law to yield a stable closed-loop control system. State feedback is designed to stabilize the electro-hydraulic friction load simulator and achieve robustness against disturbances. Desired input feedforward is designed based on flatness property. And, it can enhance bandwidth by model compensation. Furthermore, in order to solve the problem of parameter uncertainty, adaptive law is adopted in this controller. The proposed controller theoretically guarantees asymptotic tracking performance in the absence of parameter uncertainties. High-accuracy tracking performance of the proposed control strategy is verified by experiments.

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“…In recent years, there are several disturbance estimation methods have generally been combined with SMC to deal with the system uncertainties and disturbances, e.g. extended state observer, 20,21 time-delay estimation, [22][23][24] disturbance observer 25,26 and adaptive techniques. [27][28][29] Improved NTSMC combining with time delay estimation was proposed for robotic manipulators to deal with the lumped disturbanceis.…”

Section: Introductionmentioning

confidence: 99%

Adaptive funnel fast nonsingular terminal sliding mode control for robotic manipulators with dynamic uncertainties

Wang

Fang

et al. 2020

Proceedings of the Institution of Mechanical Engineers, Part C:

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In this paper, a novel adaptive funnel fast nonsingular terminal sliding mode control for robotic manipulators with dynamic uncertainties is proposed. A modified funnel variable is utilized to transform the tracking error fall within funnel boundary, which improves the transient and steady-state tracking performance of robotic manipulators. Based on the transformed error, a novel funnel fast nonsingular terminal sliding mode surface is developed and a sliding mode control law is designed to stabilize the closed-loop system and achieve high tracking precision. An adaptive update law combined with the sliding mode surface is designed to deal with uncertainties and external disturbances where their upper bounds are unknown in practical cases. The stability and finite time convergence of the closed-loop system are proved by Lyapunov stability theorem. Simulation results and discussions are presented to demonstrate the effectiveness and high-precision tracking control for robotic manipulators.

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Adaptive extended state observer-based flatness nonlinear output control for torque tracking of electrohydraulic loading system

Cited by 21 publications

References 44 publications

Research and Simulation of DC Microgrid Three-Phase AC-DC Converter Control Strategy Based on Double Loop

Research and Simulation of DC Microgrid Three-Phase AC-DC Converter Control Strategy Based on Double Loop

Flatness-based adaptive nonlinear control for torque tracking of electro-hydraulic friction load simulator with uncertainties

Adaptive funnel fast nonsingular terminal sliding mode control for robotic manipulators with dynamic uncertainties

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