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Disturbance-Observer-Based Position Tracking Controller in the Presence of Biased Sinusoidal Disturbance for Electrohydraulic Actuators
Abstract
A nonlinear position tracking controller with a disturbance observer (DOB) is proposed to track the desired position in the presence of the disturbance for electrohydraulic actuators (EHAs). The DOB is designed in the form of a second-order high-pass filter in order to estimate the disturbance. The nonlinear controller is designed for position tracking as a near input-output linearizing inner-loop load pressure controller and a backstepping outer-loop position controller. Variable structure control is implemented in order to compensate for the error in disturbance estimation. The desired load pressure is designed to generate the pressure using the differential flatness property of the EHA's mechanical subsystem. The disturbance within the bandwidth of the DOB can be cancelled by the proposed method. The performance of the proposed method is validated via simulations and experiments.
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Citations
Cited by
Shi, C., Wang, X., Wang, S., Wang, J., & Tomovic, M. M. (2015) · Aerospace Science and Technology · doi:10.1016/j.ast.2015.09.012 · Cited by 83
Wang, C., Wang, J., Guo, Q., Liu, Z., & Chen, C. L. P. (2025) · IEEE Transactions on Industrial Electronics · doi:10.1109/tie.2024.3429638 · Cited by 36
Full-State Error Constraints Based Dynamic Surface Control of Electro-Hydraulic System
Guo, Q., Li, X., & Jiang, D. (2018) · IEEE Access · doi:10.1109/access.2018.2870956 · Cited by 28
“Since the cutoff frequency of servo valve is very greater than the motion frequency of the cylinder, the dynamic model of servo valve can be neglected in EHS model construction [25].”
BackgroundMethodWang, Y., Zhao, J., Ding, H., & Zhang, H. (2021) · Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science · doi:10.1177/0954406220978263 · Cited by 10
Metadata
- Authors
- Kim, W., Shin, D., Won, D., & Chung, C. C.
- Venue
- IEEE Transactions on Control Systems Technology
- Published
- 2013-11
- Volume
- 21
- Issue
- 6
- Pages
- 2290-2298
- ISSN
- 1063-6536 (ISSN-L)
- 1558-0865
- OpenAlex
- W2048653585
- Cited by
- 160
- References
- 0
- FWCI
- 13.28
- Type
- journal article
- Language
- en
- Open access
- closed
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- Kim, W., Shin, D., Won, D., & Chung, C. C. (2013). Disturbance-Observer-Based Position Tracking Controller in the Presence of Biased Sinusoidal Disturbance for Electrohydraulic Actuators. IEEE Transactions on Control Systems Technology. https://doi.org/10.1109/tcst.2013.2237909
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