控制理论(社会学)
非线性系统
反推
观察员(物理)
国家观察员
控制器(灌溉)
职位(财务)
跟踪误差
跟踪(教育)
计算机科学
控制工程
工程类
自适应控制
控制(管理)
人工智能
物理
经济
生物
量子力学
教育学
心理学
财务
农学
作者
Daehee Won,Wonhee Kim,Masayoshi Tomizuka
出处
期刊:IEEE-ASME Transactions on Mechatronics
[Institute of Electrical and Electronics Engineers]
日期:2020-12-01
卷期号:25 (6): 2610-2621
被引量:43
标识
DOI:10.1109/tmech.2020.2985619
摘要
In this article, a method for nonlinear control is proposed using an extended state observer for position tracking of an electro-hydraulic system (EHS) with only position feedback. The proposed method consists of a high-gain extended state observer (HGESO) and a nonlinear controller. The EHS model is transformed into the normal form to lump a system function and an external disturbance into a disturbance. The HGESO observer is accordingly designed to estimate the full state and disturbance. The nonlinear controller is then developed using backstepping to suppress the position tracking error using the input-to-state stability property. The key innovation of the proposed method is the design of the nonlinear gain to suppress the position tracking error according to the disturbance estimation error. Thus, the use of the high observer gain to accurately estimate the disturbance can be avoided. The stability of the closed loop including the EHS, controller, and observer is then mathematically demonstrated without the need for an approximation of the “sgn” function in the EHS dynamics. The proposed method is verified using simulated and experimental testing.
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