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Accurate Finite-Time Motion Control of Hydraulic Actuators With Event-Triggered Input
Abstract
Generally, asymptotic tracking motion control algorithm can ensure the stability of the closed-loop system, but hardly exploits the potential system performance. As an alternative, a high-accuracy control method with finite-time regulation is studied in this paper for hydraulic actuators pertaining to complex unknowns and limited communication bandwidth. During system modeling, a hydraulic actuator system is expressed in the Brunovsky form with a lumped disturbance term, instead of the conventional semi-strict-feedback form, such that the tracking control can be transformed to the stabilizing problem. As a result, the homogeneity-based finite-time motion controller enables to be recursively constructed. This paper develops a finite-time observer to simultaneously estimate the partial unknown state and the lumped disturbance, with a short time, thereby improving the disturbance rejection and transient response. Moreover, a novel threshold triggering mechanism is proposed to alleviate the limited communication resources and ensure the relatively small amplitude fluctuation of control inputs via a minimum function. The stability and finite-time convergence of the closed-loop system are all proved. Meanwhile, the Zeno behavior is avoided. Finally, the proposed control scheme is tested and verified on the aero-engine Hardware-in-the-loop (HIL) test-rig with hydraulic actuators.Note to Practitioners—This paper displays how to utilize the event-triggered communication protocol and finite-time control for hydraulic actuators in the networked control systems. The designed event-triggered mechanism saves more communication resources while ensuring the satisfied motion control effect. Moreover, the internal and external uncertainties are all tackled with the developed finite-time observer. Experimental results verify that the proposed schemes are easily implemented, but with the plentiful performance improvements of motion control, disturbance attenuation (i.e., finite-time output tracking and unknown estimation), and the capability on saving network resources. In addition, the proposed event-driven control scheme is also feasible for other mechatronic systems, e.g., linear motor, DC motor and marine surface vehicles.
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Metadata
- Authors
- Chen, J., Du, X., Lyu, L., Fei, Z., & Sun, X.-M.
- Affiliations
- Dalian University of Technology (CN)
- Shijiazhuang Tiedao University (CN)
- Venue
- IEEE Transactions on Automation Science and Engineering
- Published
- 2024-10
- Volume
- 21
- Issue
- 4
- Pages
- 5826-5836
- ISSN
- 1545-5955 (ISSN-L)
- 1558-3783
- OpenAlex
- W4387350644
- Cited by
- 18
- References
- 42
- Citations by year
- 2026: 4 · 2025: 9 · 2024: 5
- FWCI
- 1.77
- Type
- journal article
- Language
- en
- Open access
- closed
- Licence
- Locations
- IEEE Transactions on Automation Science and Engineering (publishedVersion)
- Funders
- National Natural Science Foundation of China (52105065, 61890924)
- Topics
- Physical Sciences › Engineering › Mechanical Engineering › Hydraulic and Pneumatic Systems
- Physical Sciences › Engineering › Control and Systems Engineering › Stability and Control of Uncertain Systems
- Physical Sciences › Engineering › Control and Systems Engineering › Adaptive Control of Nonlinear Systems
- Keywords
- hydraulic actuators, event-triggered control, finite-time control, finite-time observer, lumped disturbance estimation, disturbance rejection, networked control systems, communication resource saving, Zeno behavior avoidance, motion tracking control
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