Nonlinear adaptive position control of hydraulic servo system based on sliding mode back-stepping design method

Ji, Xinhao; Wang, Chengwen; Zhang, Zhenyang; Chen, Shuai; Xinping, Guo

doi:10.1177/0959651820949663

Cited by 21 publications

(19 citation statements)

References 34 publications

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“…Based on the nonlinear dynamic equation of the EHA in (8), the observer design and fault estimation are developed in the next section.…”

Section: Modelling Mini Motion Package Electro-hydraulics Actuatormentioning

confidence: 99%

“…However, EHA systems also have disadvantages including internal leakage, parametric uncertainties, external disturbance which makes these systems unstable, and the fluids inside them being often caustic and some seals [1][2][3][4]. To minimize the effect of parametric uncertainties in the EHA, nonlinear control schemes such as PID controller [5,6], adaptive control [7,8], Fuzzy-PID [9,10], sliding mode control [11][12][13][14][15], and neural network control [16][17][18][19] were proposed. The PID controller and adaptive control can reduce the adverse effect of parametric uncertainties, but they cannot completely deal with the influence of the above noises.…”

Section: Introductionmentioning

confidence: 99%

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Robust Control Optimization Based on Actuator Fault and Sensor Fault Compensation for Mini Motion Package Electro-Hydraulic Actuator

2021

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In recent years, electro-hydraulic systems have been widely used in many industries and have attracted research attention because of their outstanding characteristics such as power, accuracy, efficiency, and ease of maintenance. However, such systems face serious problems caused simultaneously by disturbances, internal leakage fault, sensor fault, and dynamic uncertain equation components, which make the system unstable and unsafe. Therefore, in this paper, we focus on the estimation of system fault and uncertainties with the aid of advanced fault compensation techniques. First, we design a sliding mode observer using the Lyapunov algorithm to estimate actuator faults that produce not only internal leakage fault but also disturbances or unknown input uncertainties. These faults occur under the effect of payload variations and unknown friction nonlinearities. Second, Lyapunov analysis-based unknown input observer model is designed to estimate sensor faults arising from sensor noises and faults. Third, to minimize the estimated faults, a combination of actuator and sensor compensation fault is proposed, in which the compensation process is performed due to the difference between the output signal and its estimation. Finally, the numerical simulations are performed to demonstrate the effectiveness of the proposed method obtained under various faulty scenarios. The simulation results show that the efficiency of the proposed solution is better than the traditional PID controller and the sensor fault compensation method, despite the influence of noises.

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“…Based on the nonlinear dynamic equation of the EHA in (8), the observer design and fault estimation are developed in the next section.…”

Section: Modelling Mini Motion Package Electro-hydraulics Actuatormentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Robust Control Optimization Based on Actuator Fault and Sensor Fault Compensation for Mini Motion Package Electro-Hydraulic Actuator

2021

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“…Sliding mode control (SMC) is appropriate for various uncertain nonlinear systems. 13–15 Its main advantage is that the sensitivity to system uncertainties and disturbances is low, and it has been applied in elevator related fields. 16,17 However, due to the inherent discontinuous switching characteristics of SMC when dealing with uncertain problems, the system will produce serious chattering phenomenon, which will affect the control effect of the system.…”

Section: Introductionmentioning

confidence: 99%

Research on predictive sliding mode control strategy for horizontal vibration of ultra-high-speed elevator car system based on adaptive fuzzy

Wang

Ming-qin

Zhang

et al. 2021

Measurement and Control

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In order to effectively suppress horizontal vibration of the ultra-high-speed elevator car system. Firstly, considering the nonlinearity of guide shoe, parameter uncertainties, and uncertain external disturbances of the elevator car system, a more practical active control model for horizontal vibration of the 4-DOF ultra-high-speed elevator car system is constructed and the rationality of the established model is verified by real elevator experiment. Secondly, a predictive sliding mode controller based on adaptive fuzzy (PSMC-AF) is proposed to reduce the horizontal vibration of the car system, the predictive sliding mode control law is achieved by optimizing the predictive sliding mode performance index. Simultaneously, in order to decrease the influence of uncertainty of the car system, a fuzzy logic system (FLS) is designed to approximate the compound uncertain disturbance term (CUDT) on-line. Furthermore, the continuous smooth hyperbolic tangent function (HTF) is introduced into the sliding mode switching term to compensate the fuzzy approximation error. The adaptive laws are designed to estimate the error gain and slope parameter, so as to increase the robustness of the system. Finally, numerical simulations are conducted on some representative guide rail excitations and the results are compared to the existing solution and passive system. The analysis has confirmed the effectiveness and robustness of the proposed control method.

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“…A new smooth and continuous sliding mode control law was proposed to solve the design conflicts between sliding mode control technology and backstepping adaptive control technology for position control by Ji X.H. [29]. An improved noise-alleviation method was proposed by Yang G.C.…”

Section: Introductionmentioning

confidence: 99%

Position Deviation Control of Drilling Machine Using a Nonlinear Adaptive Backstepping Controller Based on a Disturbance Observer

Liu

2021

Processes

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Thin coal seam mining is a development direction to solve the problem of energy supply at this stage, which cannot be realized by small working space, low automation, and drilling deviation. In this paper, a nonlinear adaptive backstepping controller based on a disturbance observer is proposed and used on a coal auger for position tracking control to achieve directional drilling. Firstly, a nonlinear dynamic model for the deflection control mechanism is built with the consideration of parameter uncertainties and external disturbances. Then, the parameter uncertainty and external disturbance are regarded as a system compound disturbance. Furthermore, a disturbance observer is designed to estimate the system compound disturbance and a nonlinear adaptive backstepping controller was proposed to compensate the system compound disturbance. The upper bound of the compound disturbance, which can effectively reduce the chattering in the directional control process, cannot be obtained easily. A stability analysis of the DCM (deviation control mechanism) with the proposed controller is proved based on the Lyapunov theory. Finally, an electro-hydraulic servo displacement control experimental system with matlab xPC target rapid prototyping technology and a prototype experiment system is established to verify the effectiveness of the proposed control strategy. The experimental results indicate that the proposed controller can yield more satisfactory position tracking performance, such as parameter uncertainties and external disturbances, than the conventional proportion integral derivative (PID) controller and an adaptive backstepping controller. Using the control strategy, technical breakthrough on horizontal directional drilling can be realized for thin coal seam mining.

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Nonlinear adaptive position control of hydraulic servo system based on sliding mode back-stepping design method

Cited by 21 publications

References 34 publications

Robust Control Optimization Based on Actuator Fault and Sensor Fault Compensation for Mini Motion Package Electro-Hydraulic Actuator

Robust Control Optimization Based on Actuator Fault and Sensor Fault Compensation for Mini Motion Package Electro-Hydraulic Actuator

Research on predictive sliding mode control strategy for horizontal vibration of ultra-high-speed elevator car system based on adaptive fuzzy

Position Deviation Control of Drilling Machine Using a Nonlinear Adaptive Backstepping Controller Based on a Disturbance Observer

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