Machines (Sep 2021)

Finite-Time Output Feedback Control for Electro-Hydraulic Servo Systems with Parameter Adaptation

  • Luyue Yin,
  • Wenxiang Deng,
  • Xiaowei Yang,
  • Jianyong Yao

DOI
https://doi.org/10.3390/machines9100214
Journal volume & issue
Vol. 9, no. 10
p. 214

Abstract

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Measurement noise, parametric uncertainties, and external disturbances broadly exist in electro-hydraulic servo systems, which terribly deteriorate the system control performance. To figure out this problem, a novel finite-time output feedback controller with parameter adaptation is proposed for electro-hydraulic servo systems in this paper. First, to avoid using noise-polluted signals and attain active disturbance compensation, a finite-time state observer is adopted to estimate unknown system states and disturbances, which attenuates the impact of measurement noise and external disturbances on tracking performance. Second, by adopting a parameter adaptive law, the parametric uncertainties in the electro-hydraulic servo system can be much lessened, which is beneficial to averting the high-gain feedback in practice. Then, integrating the backstepping framework and the super-twisting sliding mode technique, a synthesized output feedback controller is constructed to achieve high-accuracy tracking performance for electro-hydraulic servo systems. Lyapunov stability analysis demonstrates that the proposed control scheme can acquire finite-time stability. The excellent tracking performance of the designed control law is verified by comparative simulation results.

Keywords