Passivity-based adaptive robust super-twisting nonlinear control for electro-hydraulic system with uncertainties and disturbances

Abstract

In this paper, a passive-based adaptive robust super-twisting nonlinear controller (PBARSNC) is proposed for high accuracy torque tracking control of the novel electro-hydraulic loading system with disturbances and uncertainties. The construction of the stability of this electro-hydraulic control system is given using passivity theory that results in a passivity-based controller (PBC). Considering parameter uncertainties and constant or slowly varying disturbances, adaptive law is adopted in the passivity-based controller. Furthermore, super-twisting second-order sliding mode control is used to reject modeling uncertainties and matched disturbances. Passivity theory, adaptive method and super-twisting algorithm are synthesized via the recursive design method.  The proposed passive-based adaptive robust super-twisting nonlinear control can guarantee the torque tracking performance in the presence of various uncertainties, which is very important for high-accuracy tracking control of hydraulic servo systems. Extensive simulations are carried out to verify the high-accuracy tracking performance of the proposed control strategy.