State-constrained control of single-rod electrohydraulic actuator with parametric uncertainty and load disturbance

Guo, Q; Zhang, Y; Celler, BG; Su, SW

State-constrained control of single-rod electrohydraulic actuator with parametric uncertainty and load disturbance

Guo, Q Zhang, Y Celler, BG Su, SW

Permalink

Publication Type:: Journal Article
Citation:: IEEE Transactions on Control Systems Technology, 2018, 26 (6), pp. 2242 - 2249
Issue Date:: 2018-11-01

Open Access

Copyright Clearance Process

Recently Added
In Progress
Open Access

This item is open access.

Adobe PDF

Download Accepted ManuscriptAdobe PDF (619.39 kB)

View on publisher's site

View statistics

Full metadata record

Field	Value	Language
dc.contributor.author	Guo, Q	en_US
dc.contributor.author	Zhang, Y	en_US
dc.contributor.author	Celler, BG	en_US
dc.contributor.author	Su, SW https://orcid.org/0000-0002-5720-8852	en_US
dc.date.available	2020-05-25T19:05:10Z
dc.date.issued	2018-11-01	en_US
dc.identifier.citation	IEEE Transactions on Control Systems Technology, 2018, 26 (6), pp. 2242 - 2249	en_US
dc.identifier.issn	1063-6536	en_US
dc.identifier.uri	http://hdl.handle.net/10453/132704
dc.description.abstract	© 1993-2012 IEEE. The suppression of disturbances under parametric uncertainties is one of the most common control problems in electrohydraulic systems, as both disturbances and uncertainties often significantly degrade the tracking performance and bias the load pressure of the electrohydraulic actuator (EHA). This brief presents a state-constrained control of single-rod EHA to restrict the position tracking error to a prescribed accuracy and guarantee the load pressure in the maximal power boundary. Furthermore, a dynamic surface is designed to avoid the explosion of complexity due to the repeatedly calculated differentiations of the virtual control variables in the backstepping iteration. Integrating with a disturbance observer and the parametric estimation law, this state-constrained controller guarantees the asymptotic convergence of system state error under parametric uncertainties and large load disturbances. The effectiveness of the proposed controller has been demonstrated by a comparative experiment on the motion control of the two-degree-of-freedom robotic arm.	en_US
dc.relation.ispartof	IEEE Transactions on Control Systems Technology	en_US
dc.relation.isbasedon	10.1109/TCST.2017.2753167	en_US
dc.rights	info:eu-repo/semantics/openAccess
dc.subject.classification	Industrial Engineering & Automation	en_US
dc.title	State-constrained control of single-rod electrohydraulic actuator with parametric uncertainty and load disturbance	en_US
dc.type	Journal Article
utslib.citation.volume	6	en_US
utslib.citation.volume	26	en_US
utslib.for	0906 Electrical and Electronic Engineering	en_US
utslib.for	0102 Applied Mathematics	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Biomedical Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CHT - Health Technologies
utslib.copyright.status	open_access	*
pubs.issue	6	en_US
pubs.publication-status	Published	en_US
pubs.volume	26	en_US

Abstract:

© 1993-2012 IEEE. The suppression of disturbances under parametric uncertainties is one of the most common control problems in electrohydraulic systems, as both disturbances and uncertainties often significantly degrade the tracking performance and bias the load pressure of the electrohydraulic actuator (EHA). This brief presents a state-constrained control of single-rod EHA to restrict the position tracking error to a prescribed accuracy and guarantee the load pressure in the maximal power boundary. Furthermore, a dynamic surface is designed to avoid the explosion of complexity due to the repeatedly calculated differentiations of the virtual control variables in the backstepping iteration. Integrating with a disturbance observer and the parametric estimation law, this state-constrained controller guarantees the asymptotic convergence of system state error under parametric uncertainties and large load disturbances. The effectiveness of the proposed controller has been demonstrated by a comparative experiment on the motion control of the two-degree-of-freedom robotic arm.

Please use this identifier to cite or link to this item:

http://hdl.handle.net/10453/132704