Approximation-free Control for Hydraulic Servo Systems without Using Backstepping
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- 英文论文题名：Approximation-free Control for Hydraulic Servo Systems without Using Backstepping
- 论文作者：Yunpeng Li ; Jing Na ; Yingbo Huang ; Guanbin Gao ; Qiang Chen
- 英文论文作者：Yunpeng Li ; Jing Na ; Yingbo Huang ; Guanbin Gao ; Qiang Chen ; Faculty of Mechanical & Electrical Engineering ; Kunming University of Science & Technology ; College of Information Engineering ; Zhejiang University of Technology
- 年：2017
- 作者机构：Faculty of Mechanical & Electrical Engineering,Kunming University of Science & Technology;College of Information Engineering,Zhejiang University of Technology;
- 英文论文关键词：Hydraulic Servo Systems ; Tracking Control ; Unknown Dynamics Estimator ; Backstepping
- 会议召开时间：2017-07-26
- 会议录名称：第36届中国控制会议论文集（A）
- 英文会议录名称：Proceedings of the 36th Chinese Control Conference（A）
- 语种：英文
- 分类号：TH137
- 学会代码：KZLL
- 会议名称：第36届中国控制会议
- 会议地点：中国辽宁大连
- 主办单位：中国自动化学会控制理论专业委员会
- 学会名称：中国自动化学会控制理论专业委员会
- 页数：6
- 文件大小：437k
- 原文格式：D
- 会议级别：全国
摘要
In this paper, precise tracking control of a class of high-order hydraulic servo systems is studied, where the dynamics of the electrohydraulic actuator are considered. Different to available results, a new control method is proposed without using the backstepping scheme and any function approximators. The model of the hydraulic servo system is transformed into a Brunovsky form, so that the tracking control of the original system can be carried out by controlling the transformed system. In this case, the widely-used backstepping scheme is avoided. The Levant's differentiator is then employed to observe the unknown system states of the transformed system. Finally, an unknown dynamics estimator is constructed and then incorporated into the feedback control, which avoids using function approximators(e.g. neural network, fuzzy systems) for addressing unknown nonlinearities. Only the output of the original system needs to be measured. The closed-loop control system stability is rigorously proved. Simulation results based on a realistic plant are provided to illustrate the effectiveness of the proposed control method.
In this paper, precise tracking control of a class of high-order hydraulic servo systems is studied, where the dynamics of the electrohydraulic actuator are considered. Different to available results, a new control method is proposed without using the backstepping scheme and any function approximators. The model of the hydraulic servo system is transformed into a Brunovsky form, so that the tracking control of the original system can be carried out by controlling the transformed system. In this case, the widely-used backstepping scheme is avoided. The Levant's differentiator is then employed to observe the unknown system states of the transformed system. Finally, an unknown dynamics estimator is constructed and then incorporated into the feedback control, which avoids using function approximators(e.g. neural network, fuzzy systems) for addressing unknown nonlinearities. Only the output of the original system needs to be measured. The closed-loop control system stability is rigorously proved. Simulation results based on a realistic plant are provided to illustrate the effectiveness of the proposed control method.
In this paper, precise tracking control of a class of high-order hydraulic servo systems is studied, where the dynamics of the electrohydraulic actuator are considered. Different to available results, a new control method is proposed without using the backstepping scheme and any function approximators. The model of the hydraulic servo system is transformed into a Brunovsky form, so that the tracking control of the original system can be carried out by controlling the transformed system. In this case, the widely-used backstepping scheme is avoided. The Levant's differentiator is then employed to observe the unknown system states of the transformed system. Finally, an unknown dynamics estimator is constructed and then incorporated into the feedback control, which avoids using function approximators(e.g. neural network, fuzzy systems) for addressing unknown nonlinearities. Only the output of the original system needs to be measured. The closed-loop control system stability is rigorously proved. Simulation results based on a realistic plant are provided to illustrate the effectiveness of the proposed control method.
引文
[1]H.E.Merritt,Hydraulic control systems:John Wiley&Sons,1967.
[2]J.Yao,Z.Jiao,D.Ma,and L.Yan,"High-accuracy tracking control of hydraulic rotary actuators with modeling uncertainties,"IEEE/ASME Transactions on Mechatronics,vol.19,pp.633-641,2014.
[3]B.Yao,F.Bu,J.Reedy,and G.-C.Chiu,"Adaptive robust motion control of single-rod hydraulic actuators:theory and experiments,"IEEE/ASME transactions on mechatronics,vol.5,pp.79-91,2000.
[4]K.K.Ahn,D.N.C.Nam,and M.Jin,"Adaptive backstepping control of an electrohydraulic actuator,"IEEE/ASME transactions on mechatronics,vol.19,pp.987-995,2014.
[5]Y.Huang,J.Na,X.Wu,X.Liu,and Y.Guo,"Adaptive control of nonlinear uncertain active suspension systems with prescribed performance,"ISA transactions,vol.54,pp.145-155,2015.
[6]J.Na,"Adaptive prescribed performance control of nonlinear systems with unknown dead zone,"International Journal of Adaptive Control and Signal Processing,vol.27,pp.426-446,2013.
[7]J.Na,G.Herrmann,X.Ren,M.N.Mahyuddin,and P.Barber,"Robust adaptive finite-time parameter estimation and control of nonlinear systems,"in 2011 IEEE International Symposium on Intelligent Control,2011,pp.1014-1019.
[8]F.Hong and C.K.Pang,"Robust vibration control at critical resonant modes using indirect-driven self-sensing actuation in mechatronic systems,"ISA transactions,vol.51,pp.834-840,2012.
[9]S.-J.Huang and H.-Y.Chen,"Adaptive sliding controller with self-tuning fuzzy compensation for vehicle suspension control,"Mechatronics,vol.16,pp.607-622,2006.
[10]J.Yang,S.Li,J.Su,and X.Yu,"Continuous nonsingular terminal sliding mode control for systems with mismatched disturbances,"Automatica,vol.49,pp.2287-2291,2013.
[11]J.Yang,S.Li,and X.Yu,"Sliding-mode control for systems with mismatched uncertainties via a disturbance observer,"IEEE Transactions on Industrial Electronics,vol.60,pp.160-169,2013.
[12]W.He,A.O.David,Z.Yin,and C.Sun,"Neural network control of a robotic manipulator with input deadzone and output constraint,"IEEE Transactions on Systems,Man,and Cybernetics:Systems,vol.46,pp.759-770,2016.
[13]J.Cao,P.Li,and H.Liu,"An interval fuzzy controller for vehicle active suspension systems,"IEEE Transactions on Intelligent Transportation Systems,vol.11,pp.885-895,2010.
[14]proposed neural network,"Journal of sound and vibration,vol.277,pp.1059-1069,2004.
[15]J.Yao,Z.Jiao,and D.Ma,"Extended-state-observer-based output feedback nonlinear robust control of hydraulic systems with backstepping,"IEEE Transactions on Industrial Electronics,vol.61,pp.6285-6293,2014.
[16]J.Na,G.Herrmann,R.Burke,and C.Brace,"Adaptive input and parameter estimation with application to engine torque estimation,"in IEEE Conference on Decision and Control,2015,pp.1035–1065.
[17]W.-H.Chen,D.J.Ballance,P.J.Gawthrop,and J.O'Reilly,"A nonlinear disturbance observer for robotic manipulators,"Industrial Electronics,IEEE Transactions on,vol.47,pp.932-938,2000.
[18]S.Yin,P.Shi,and H.Yang,"Adaptive fuzzy control of strict-feedback nonlinear time-delay systems with unmodeled dynamics,"2015.
[19]J.Na,M.N.Mahyuddin,G.Herrmann,X.Ren,and P.Barber,"Robust adaptive finite time parameter estimation and control for robotic systems,"International Journal of Robust and Nonlinear Control,vol.25,pp.3045-3071,2015.
[20]P.A.Ioannou and J.Sun,Robust adaptive control:Courier Corporation,2012.
[21]W.Kim,D.Shin,D.Won,and C.C.Chung,"Disturbance-observer-based position tracking controller in the presence of biased sinusoidal disturbance for electrohydraulic actuators,"IEEE Transactions on Control Systems Technology,vol.21,pp.2290-2298,2013.
[22]W.Sun,H.Gao,and B.Yao,"Adaptive robust vibration control of full-car active suspensions with electrohydraulic actuators,"IEEE Transactions on Control Systems Technology,vol.21,pp.2417-2422,2013.
[23]N.Yagiz and Y.Hacioglu,"Backstepping control of a vehicle with active suspensions,"Control Engineering Practice,vol.16,pp.1457-1467,2008.
[24]Q.Guo,P.Sun,J.-m.Yin,T.Yu,and D.Jiang,"Parametric adaptive estimation and backstepping control of electro-hydraulic actuator with decayed memory filter,"ISA transactions,vol.62,pp.202-214,2016.
[25]P.P.Yip and J.K.Hedrick,"Adaptive dynamic surface control:a simplified algorithm for adaptive backstepping control of nonlinear systems,"International Journal of Control,vol.71,pp.959-979,1998.
[26]A.Levant,"Higher-order sliding modes,differentiation and output-feedback control,"International Journal of Control,vol.volume 76,pp.924-941,2003.
[27]J.Na,X.Ren,and D.Zheng,"Adaptive control for nonlinear pure-feedback systems with high-order sliding mode observer,"IEEE transactions on neural networks and learning systems,vol.24,pp.370-382,2013.
[28]A.Levant,"Robust exact differentiation via sliding mode technique,"automatica,vol.34,pp.379-384,1998.
[29]H.K.Khalil,Noninear Systems:Prentice-Hall,New Jersey,1996.
[2]J.Yao,Z.Jiao,D.Ma,and L.Yan,"High-accuracy tracking control of hydraulic rotary actuators with modeling uncertainties,"IEEE/ASME Transactions on Mechatronics,vol.19,pp.633-641,2014.
[3]B.Yao,F.Bu,J.Reedy,and G.-C.Chiu,"Adaptive robust motion control of single-rod hydraulic actuators:theory and experiments,"IEEE/ASME transactions on mechatronics,vol.5,pp.79-91,2000.
[4]K.K.Ahn,D.N.C.Nam,and M.Jin,"Adaptive backstepping control of an electrohydraulic actuator,"IEEE/ASME transactions on mechatronics,vol.19,pp.987-995,2014.
[5]Y.Huang,J.Na,X.Wu,X.Liu,and Y.Guo,"Adaptive control of nonlinear uncertain active suspension systems with prescribed performance,"ISA transactions,vol.54,pp.145-155,2015.
[6]J.Na,"Adaptive prescribed performance control of nonlinear systems with unknown dead zone,"International Journal of Adaptive Control and Signal Processing,vol.27,pp.426-446,2013.
[7]J.Na,G.Herrmann,X.Ren,M.N.Mahyuddin,and P.Barber,"Robust adaptive finite-time parameter estimation and control of nonlinear systems,"in 2011 IEEE International Symposium on Intelligent Control,2011,pp.1014-1019.
[8]F.Hong and C.K.Pang,"Robust vibration control at critical resonant modes using indirect-driven self-sensing actuation in mechatronic systems,"ISA transactions,vol.51,pp.834-840,2012.
[9]S.-J.Huang and H.-Y.Chen,"Adaptive sliding controller with self-tuning fuzzy compensation for vehicle suspension control,"Mechatronics,vol.16,pp.607-622,2006.
[10]J.Yang,S.Li,J.Su,and X.Yu,"Continuous nonsingular terminal sliding mode control for systems with mismatched disturbances,"Automatica,vol.49,pp.2287-2291,2013.
[11]J.Yang,S.Li,and X.Yu,"Sliding-mode control for systems with mismatched uncertainties via a disturbance observer,"IEEE Transactions on Industrial Electronics,vol.60,pp.160-169,2013.
[12]W.He,A.O.David,Z.Yin,and C.Sun,"Neural network control of a robotic manipulator with input deadzone and output constraint,"IEEE Transactions on Systems,Man,and Cybernetics:Systems,vol.46,pp.759-770,2016.
[13]J.Cao,P.Li,and H.Liu,"An interval fuzzy controller for vehicle active suspension systems,"IEEE Transactions on Intelligent Transportation Systems,vol.11,pp.885-895,2010.
[14]proposed neural network,"Journal of sound and vibration,vol.277,pp.1059-1069,2004.
[15]J.Yao,Z.Jiao,and D.Ma,"Extended-state-observer-based output feedback nonlinear robust control of hydraulic systems with backstepping,"IEEE Transactions on Industrial Electronics,vol.61,pp.6285-6293,2014.
[16]J.Na,G.Herrmann,R.Burke,and C.Brace,"Adaptive input and parameter estimation with application to engine torque estimation,"in IEEE Conference on Decision and Control,2015,pp.1035–1065.
[17]W.-H.Chen,D.J.Ballance,P.J.Gawthrop,and J.O'Reilly,"A nonlinear disturbance observer for robotic manipulators,"Industrial Electronics,IEEE Transactions on,vol.47,pp.932-938,2000.
[18]S.Yin,P.Shi,and H.Yang,"Adaptive fuzzy control of strict-feedback nonlinear time-delay systems with unmodeled dynamics,"2015.
[19]J.Na,M.N.Mahyuddin,G.Herrmann,X.Ren,and P.Barber,"Robust adaptive finite time parameter estimation and control for robotic systems,"International Journal of Robust and Nonlinear Control,vol.25,pp.3045-3071,2015.
[20]P.A.Ioannou and J.Sun,Robust adaptive control:Courier Corporation,2012.
[21]W.Kim,D.Shin,D.Won,and C.C.Chung,"Disturbance-observer-based position tracking controller in the presence of biased sinusoidal disturbance for electrohydraulic actuators,"IEEE Transactions on Control Systems Technology,vol.21,pp.2290-2298,2013.
[22]W.Sun,H.Gao,and B.Yao,"Adaptive robust vibration control of full-car active suspensions with electrohydraulic actuators,"IEEE Transactions on Control Systems Technology,vol.21,pp.2417-2422,2013.
[23]N.Yagiz and Y.Hacioglu,"Backstepping control of a vehicle with active suspensions,"Control Engineering Practice,vol.16,pp.1457-1467,2008.
[24]Q.Guo,P.Sun,J.-m.Yin,T.Yu,and D.Jiang,"Parametric adaptive estimation and backstepping control of electro-hydraulic actuator with decayed memory filter,"ISA transactions,vol.62,pp.202-214,2016.
[25]P.P.Yip and J.K.Hedrick,"Adaptive dynamic surface control:a simplified algorithm for adaptive backstepping control of nonlinear systems,"International Journal of Control,vol.71,pp.959-979,1998.
[26]A.Levant,"Higher-order sliding modes,differentiation and output-feedback control,"International Journal of Control,vol.volume 76,pp.924-941,2003.
[27]J.Na,X.Ren,and D.Zheng,"Adaptive control for nonlinear pure-feedback systems with high-order sliding mode observer,"IEEE transactions on neural networks and learning systems,vol.24,pp.370-382,2013.
[28]A.Levant,"Robust exact differentiation via sliding mode technique,"automatica,vol.34,pp.379-384,1998.
[29]H.K.Khalil,Noninear Systems:Prentice-Hall,New Jersey,1996.
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