Actuator Fault-Tolerant Control for an Electro-Hydraulic Actuator Using Time Delay Estimation and Feedback Linearization
Open accessAbstract
This article proposes a novel fault-tolerant controller for a double-rod electro-hydraulic actuator whilst the motion control system faces with system disturbances/uncertainties and internal leakage fault. Firstly, taking the advantage of the coordinate transformation, the nonlinear system is converted to a linear system to apply the control design tools in linear control theory. Besides, the matched, mismatched disturbances, and internal leakage fault are integrated into a new lumped uncertainty based on this transformation. Inspired by the great capability of time delay estimation technique, the suggested controller is developed to effectively detect and compensate for the internal leakage fault. To enhance the performance of the control system, an adaptive integral sliding mode control approach is deployed to effectively suppress the lump estimated error, and the effects of fault. The perfect combination of input-output feedback linearization, adaptive integral sliding mode, and time delay estimation is investigated to achieve high-precision tracking control and strong robustness in the presence of matched, mismatched disturbances, and faults, simultaneously. Moreover, the global stability of the suggested control algorithm is demonstrated by the Lyapunov theory. Finally, several tracking performance comparisons of the proposed approach with the existing controllers to demonstrate the efficiency are exhibited through simulation analyses and experiment results.
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In [12], sensor malfunctions were not compensated.
“Different from the FTC strategy suggested in [12], the sensor malfunctions were not compensated.”
From Fault-tolerant control for an electro-hydraulic servo system with sensor fault compensation and disturbance rejection (2023) · cites this paper as [12]
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- KYOUNG KWAN AHN (Senior Member, IEEE) received the B.S. degree from the Department of Mechanical Engineering, Seoul National Uni- versity, in 1990, the M.Sc. degree in mechani- cal engineering from Korea Advanced Institute of Science and Technology (KAIST), in 1992, and the Ph.D. degree from Tokyo Institute of Technol- ogy, in 1999. Since 2000, he has been with the School of Mechanical Engineering, University of Ulsan, where he is currently a Professor and the Director of the Fluid Power Control and Machine Intelligence Laboratory. His main research interests include fluid-based triboelectric nano generator, modeling and control of fluid power systems, energy saving construction machine, hydraulic robot, and power transmission in the ocean energy. He is the author or coauthor of over 190 SCI (E) papers and four books in these areas.
- Prof. Ahn serves as an Editor for International Journal of Control, Automation and Systems. He serves on the Editorial Board for Renewable Energy, Korean Fluid Power and Construction Machine, and Actuators.
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- Authors
- Phan, V. D., Vo, C. P., Dao, H. V., & Ahn, K. K.
- Affiliations
- University of Ulsan (KR)
- Venue
- IEEE Access
- Published
- 2021
- Volume
- 9
- Pages
- 107111-107123
- ISSN
- 2169-3536 (ISSN-L)
- OpenAlex
- W3191783681
- Cited by
- 44
- References
- 51
- Citations by year
- 2026: 7 · 2025: 14 · 2024: 7 · 2023: 5 · 2022: 9 · 2021: 2
- FWCI
- 2.46
- Type
- journal article
- Language
- en
- Open access
- gold
- doi.org
- Locations
- IEEE Access (publishedVersion, cc-by)
- DOAJ (DOAJ: Directory of Open Access Journals) (submittedVersion, cc-by-sa)
- Funders
- Basic Science Research Program through the National Research Foundation of Korea
- Ministry of Science and Information and Communication Technology (ICT), South Korea (NRF-2020R1A2B5B03001480)
- Topics
- Physical Sciences › Engineering › Mechanical Engineering › Hydraulic and Pneumatic Systems
- Physical Sciences › Engineering › Control and Systems Engineering › Adaptive Control of Nonlinear Systems
- Physical Sciences › Engineering › Control and Systems Engineering › Stability and Control of Uncertain Systems
- Keywords
- fault-tolerant control, electro-hydraulic actuator, time delay estimation, feedback linearization, adaptive integral sliding mode control, lumped uncertainty, matched and mismatched disturbances, tracking control, Lyapunov stability
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