Robust Backstepping Control with Active Damping Strategy for Separating-Metering Electro-Hydraulic System

Su-hong, Lin; An, Gi-Hong; Huang, Jiahai; Guo, Yuhang

doi:10.3390/app10010277

Cited by 4 publications

(3 citation statements)

References 32 publications

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“…Honorine Angue Mintsa, An Alternative Nonlinear Lyapunov Redesign Velocity Controller for an Electrohydraulic Drive It is noted that the model under study keeps the strong nonlinearity of the flow expression. In order to avoid the sign function and the square-root in the flow pressure relationship, the linearized version of flow expression is used in the EHSS backstepping literature [50], [51] .…”

Section: Issn: 2715-5072 194mentioning

confidence: 99%

An Alternative Nonlinear Lyapunov Redesign Velocity Controller for an Electrohydraulic Drive

Mintsa,

Eny,

Senouveau

et al. 2023

Journal of Robotics and Control

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This research aims at developing control law strategies that improve the performances and the robustness of electrohydraulic servosystems (EHSS) operation while considering easy implementation. To address the strongly nonlinear nature of the EHSS, a number of control algorithms based on backstepping approach is intensively used in the literature. The main contribution of this paper is to consider an alternative approach to synthetize a Lyapunov redesign nonlinear EHSS velocity controller. The proposed control law design is based on an appropriate choice of the control lyapunov function (clf), the extension of the Sontag formula and the construction of a nonlinear observer. The clf includes all the three system variable states in a positive define function. The Sontag formula is used in the time derivative of our clf in order to ensure an asymptotic stabilizing controller for regulating and tracking objectives. A nonlinear observer is developed in order to bring to the proposed controller the estimated values of the first and the second time output derivatives. The design, the tuning implementation and the performances of the proposed controller are compared to those of its equivalent backstepping controller. It is shown that the proposed controller is easier to design with simple implementation tuning while the backstepping controller has several complex design steps and implementation tuning issue. Moreover, the best performances especially under disturbance in the viscous damping are achieved with the proposed controller.

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Section: Issn: 2715-5072 194mentioning

confidence: 99%

An Alternative Nonlinear Lyapunov Redesign Velocity Controller for an Electrohydraulic Drive

Mintsa,

Eny,

Senouveau

et al. 2023

Journal of Robotics and Control

View full text Add to dashboard Cite

show abstract

“…Electrohydraulic systems are currently utilized extensively in a variety of industrial and transport applications [1][2][3][4][5][6], e.g., construction machines [7], robot manipulators [8], load simulators [9], and steering systems [10]. Hydraulic pressure control performance is critical in particular situations, e.g., tunneling boring machine thrust force control and hydraulic press forming force control.…”

Section: Introductionmentioning

confidence: 99%

A Novel Reference Governor for Disturbance Observer-Based Load Pressure Control in a Dual-Actuator-Driven Electrohydraulic Actuator

et al. 2022

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In real-world applications, hydraulic pressure control performance is influenced by model uncertainties, the control bandwidths of valves and pumps, and deviations from the linear working region. To overcome the aforementioned obstacles, a novel reference governor for disturbance observer (DOB)-based load pressure control is proposed in this paper for a dual-actuator-driven electrohydraulic cylinder. First, a control-oriented model for load pressure control was developed. On the basis of this, a nonlinear DOB-based feedback controller, as well as a mid-range control architecture for the variable displacement pump and proportional valve, was fabricated so that the performance degradation caused by the pump’s slow responses and imprecise system parameters is suppressed. Specifically, this controller is augmented by a novel smooth reference governor, which modifies the load pressure command in the pressure transition periods to guarantee that the actuator’s constraints are not violated. Another merit of the novel reference governor is that it ensures a smooth trajectory transition, and therefore, unmodeled high-frequency plant dynamics will not be invoked. Case studies were carried out to verify the effectiveness of the proposed control approach. The study results show that the approach can significantly enhance the hydraulic system’s pressure tracking performance.

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“…The DCM (deviation control mechanism) can be regarded as an electro-hydraulic servo control system. The position control of the DCM can be partially realized using a conventional proportional-integral (PI) controller [19] and backstepping controller [20]. However, the DCM is a complex nonlinear system with parameter uncertainties, such as servo-valve and hydraulic actuator dynamics [21], stiffness and damping differences [22], and external disturbances such as friction between the rod and bore of hydraulic cylinders [23].…”

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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Robust Backstepping Control with Active Damping Strategy for Separating-Metering Electro-Hydraulic System

Cited by 4 publications

References 32 publications

An Alternative Nonlinear Lyapunov Redesign Velocity Controller for an Electrohydraulic Drive

An Alternative Nonlinear Lyapunov Redesign Velocity Controller for an Electrohydraulic Drive

A Novel Reference Governor for Disturbance Observer-Based Load Pressure Control in a Dual-Actuator-Driven Electrohydraulic Actuator

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

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