An Extended State Observer Based Fractional Order Sliding‐Mode Control for a Novel Electro‐Hydraulic Servo System with Iso‐Actuation Balancing and Positioning

Gao, Qiang; Hou, Yuanlong; Liu, Jingbao; Hou, Runming; Mingming, Lv; Wang, Li; Wang, Chao

doi:10.1002/asjc.1905

Cited by 31 publications

(30 citation statements)

References 22 publications

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“…new (e(t))) − 1 > 0 holds, (43) will still remain in the NFOPID form as (31). According to (42) and (43), the system trajectory will persistently converge to the NFOPID sliding surface (31) until we have…”

Section: Stability Analysismentioning

confidence: 99%

“…integrals have the composition rules as follows: Mathematical Problems in Engineering Definition 4 (referring to [30][31][32]).…”

Section: Lemma 1 (Referring To [31]) Fractional Derivatives Andmentioning

confidence: 99%

“…According to (8), (9), (31), and (32), the first-order time derivative (39) can be represented as follows:…”

Section: Stability Analysismentioning

confidence: 99%

“…e fractional order PID (FOPID) sliding mode variable structure controller (SMC-FOPID) was designed by utilizing the FOPID sliding surface in references [30][31][32][33]. An extended state observer (ESO) and a nonlinear state error feedback control law (NLSEF) were proposed by Han [34].…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

A Sliding Mode Control with Nonlinear Fractional Order PID Sliding Surface for the Speed Operation of Surface‐Mounted PMSM Drives Based on an Extended State Observer

Peng

Zhang

Ouyang

et al. 2019

Mathematical Problems in Engineering

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A novel sliding mode controller (SMC) with nonlinear fractional order PID sliding surface based on a novel extended state observer for the speed operation of a surface-mounted permanent magnet synchronous motor (SPMSM) is proposed in this paper. First, a new smooth and derivable nonlinear function with improved continuity and derivative is designed to replace the traditional nonderivable nonlinear function of the nonlinear state error feedback control law. Then, a nonlinear fractional order PID sliding mode controller is proposed on the basis of the fractional order PID sliding surface with the combination of the novel nonlinear state error feedback control law to improve dynamic performance, static performance, and robustness of the system. Furthermore, a novel extended state observer is designed based on the new nonlinear function to achieve dynamic feedback compensation for external disturbances. Stability of the system is proved based on the Lyapunov stability theorem. The corresponding comparative simulation results demonstrate that the proposed composite control algorithm displays good stability, dynamic properties, and strong robustness against external disturbances.

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Section: Stability Analysismentioning

confidence: 99%

“…integrals have the composition rules as follows: Mathematical Problems in Engineering Definition 4 (referring to [30][31][32]).…”

Section: Lemma 1 (Referring To [31]) Fractional Derivatives Andmentioning

confidence: 99%

“…According to (8), (9), (31), and (32), the first-order time derivative (39) can be represented as follows:…”

Section: Stability Analysismentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

A Sliding Mode Control with Nonlinear Fractional Order PID Sliding Surface for the Speed Operation of Surface‐Mounted PMSM Drives Based on an Extended State Observer

Peng

Zhang

Ouyang

et al. 2019

Mathematical Problems in Engineering

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“…Moreover, the unbalanced gravitational torque is function of the barrel angle, thus it is time-varying during the motion of the barrel. The time-varying unbalance gravitational torque can significantly deteriorate the control performance of the barrel servo system [1,2] . To overcome this problem, passive balancing and active balancing are the most commonly used methods [2,3] .…”

Section: Introductionmentioning

confidence: 99%

Observer Based Sliding Mode Control for Hydraulic Driven Barrel Servo System With Unknown Dynamics

Zou

2020

IEEE Access

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The position tracking control of a barrel system driven by a two-stage hydraulic cylinder with long transmission lines was addressed in this paper. First, an active balancing system was designed to balance the gravitational torque which may deteriorate the performance of the barrel control system. The active balancing system is totally isolated from the barrel control system; thus the dynamics of the barrel servo system is significantly simplified. The effects of the long transmission lines were also considered during the modeling of the barrel servo system. In order to exactly estimate the unmeasured states and the mechanical disturbance, an extended state observer was designed by employing the Levant's Differentiator, thus the estimation errors would converge to zero exponentially. Then, based on the estimated signals, the barrel system was transformed into the pure integration chain form, thus the sliding mode technology can be directly utilized. After that, a sliding mode controller is designed to make the position output of the barrel to track different motion trajectories as close as possible in the presence of model uncertainty and unknown dynamics. The closed loop system was proven to be asymptotical stable in the sense of Lyapunov theory. Three different motion trajectories were tested to verify the effectiveness of the proposed controller.

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Observer‐based compensation control of servo systems with backlash

Sun

Zhao

Chen

2019

Asian Journal of Control

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For compensating backlash phenomenon in servo systems, the authors propose an observer method in this paper to estimate both system states and vibration torque before controller design. First, a systematic scheme is given to obtain plant parameters, which is very important in observing system states. This is a parameter estimation principle that gives a crude estimation and computes the differences between the crude and true values. As a result, the precise value of the parameters is obtained by adding together the crude value and the difference. Then, based on the precise estimated parameters, an extended state observer (ESO) is designed to obtain feedback and feedforward signals. Consequently, robust compensation control is achieved by designing an output feedback controller, consisting of a feedback term and a feedforward term. Finally, in order to validate the proposed approach, extensive experiments are performed on a practical servo system with backlash nonlinearity.

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An Extended State Observer Based Fractional Order Sliding‐Mode Control for a Novel Electro‐Hydraulic Servo System with Iso‐Actuation Balancing and Positioning

Cited by 31 publications

References 22 publications

A Sliding Mode Control with Nonlinear Fractional Order PID Sliding Surface for the Speed Operation of Surface‐Mounted PMSM Drives Based on an Extended State Observer

A Sliding Mode Control with Nonlinear Fractional Order PID Sliding Surface for the Speed Operation of Surface‐Mounted PMSM Drives Based on an Extended State Observer

Observer Based Sliding Mode Control for Hydraulic Driven Barrel Servo System With Unknown Dynamics

Observer‐based compensation control of servo systems with backlash

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