Disturbance Observer based Feedback Linearization Control for Electro-Hydraulic Servo Systems

Abstract

-We propose a disturbance observer(DOB) based feedback linearization control to improve position tracking performance in the presence of disturbance. The proposed method consists of a disturbance observer and a feedback linearization controller. The disturbance observer is designed to estimate the load force disturbance in electro-hydraulic systems. An auxiliary state variable is proposed in order to avoid amplification of the measurement noises in the disturbance observer. Using the estimated disturbance enables the Electro-hydraulic servo systems(EHS) dynamics to be changed into feedback linearization from. In order to compensate for the disturbance and to track the desired position, the feedback linearization based controller is proposed. The proposed method has a simple structure which can easily be implemented in practice. As a result, the proposed method improves the position tracking performance in the presence of disturbance. Its performance is validated via simulations.

Research on the leakage of continuous rotary electro-hydraulic servo motor based on fluid structure interaction analysis

“…Therefore, reducing the internal leakage of motor is necessary. The internal leakage compensation is also an efficient way to improve the low speed performance of continuous rotary electro-hydraulic servo motor by improving the control strategy (Yao et al, 2014;Won et al, 2015).…”

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

“…Many advanced nonlinear controllers with strong robustness and self-adaptability have been developed to improve tracking performance for EHSS, such as feedback linearization (Seo et al, 2007; Won et al, 2015b), backstepping control (Kaddissi et al, 2007), passivity-based control (Kim et al, 2012), flatness-based control (Kim et al, 2015), adaptive control (Ahn et al, 2014), H ∞ robust control (Guo Q et al, 2015), adaptive robust control (Mohanty and Yao, 2011; Yao et al, 2000), sliding mode variable structure control (Bessa et al, 2010; Guan and Pan, 2008), fuzzy control (Du and Zhang, 2009; Truong and Ahn, 2011) and iterative learning control (Wang et al, 2013). Among these methods, flatness-based control has not been applied to hydraulic control until recently.…”