A novel ESO-based adaptive RISE control for asymptotic position tracking of electro-hydraulic actuator systems
Abstract
This paper is focused on asymptotic tracking control of electro-hydraulic actuator (EHA) systems subject to matched and mismatched time-varying disturbances. To counteract the matched disturbance, a novel extended state observer (ESO) is proposed to achieve asymptotic convergence of the estimation error, by incorporating the strictly positive real (SPR) Lyapunov design method and a Nussbaum function. To further suppress the mismatched disturbance, an adaptive robust integral of the sign of the error (RISE) controller is formulated in the backstepping framework based on the proposed ESO. Asymptotic tracking performance is theoretically achieved via closed-loop system stability analysis. The efficacy of the proposed control scheme is verified through comparative experiments executed on an EHA test rig. In this study, a priori bounds of the disturbances and their higher-order derivatives are no longer needed, and only one auxiliary error signal is introduced. This approach loosens the restrictions on the disturbances and reduces the design conservativeness, thus making it promising in practice.
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“Normally, the boundedness of _ d 1 and € d 1 is the premise for RISE controller design (Deng and Yao, 2021; Yang et al., 2016; Yang and Yao, 2020; Yao et al., 2014).”
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- Authors
- Liang, Q.-K., Cai, Y., Song, J.-C., & Wang, B.-L.
- Affiliations
- Northeastern University (CN)
- Shenyang Institute of Automation (CN)
- School of Mechanical Engineering and Automation, Northeastern University, China
- Corresponding author
- Cai, Yan
- Venue
- Transactions of the Institute of Measurement and Control
- Publisher
- SAGE Publications
- Published
- 2023-08-10
- Volume
- 46
- Issue
- 6
- Pages
- 1134-1145
- ISSN
- 0142-3312 (ISSN-L)
- 1477-0369
- OpenAlex
- W4385723550
- Cited by
- 3
- References
- 31
- Citations by year
- 2026: 1 · 2024: 2
- FWCI
- 0.32
- Type
- journal article
- Language
- en
- Open access
- closed
- Locations
- Transactions of the Institute of Measurement and Control (publishedVersion)
- Funders
- Fundamental Research Funds from the Educational Department of Liaoning Province (LJKMZ20220344)
- Fundamental Research Funds for the Central Universities in China (N170303010)
- Topics
- Physical Sciences › Engineering › Control and Systems Engineering › Adaptive Control of Nonlinear Systems
- Physical Sciences › Engineering › Mechanical Engineering › Hydraulic and Pneumatic Systems
- Physical Sciences › Engineering › Mechanical Engineering › Control Systems in Engineering
- Keywords
- electro-hydraulic actuator, extended state observer, Nussbaum function, backstepping control, matched disturbances, mismatched disturbances, disturbance rejection, disturbance bounds
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