Haohao Du, Chenghu Jing, Bingsheng Yan, Chun‐Bin Liu
{"title":"含不确定扰动电液系统的无源自适应鲁棒超扭非线性控制","authors":"Haohao Du, Chenghu Jing, Bingsheng Yan, Chun‐Bin Liu","doi":"10.5755/j02.mech.32405","DOIUrl":null,"url":null,"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.","PeriodicalId":54741,"journal":{"name":"Mechanika","volume":null,"pages":null},"PeriodicalIF":0.6000,"publicationDate":"2023-02-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Passivity-based adaptive robust super-twisting nonlinear control for electro-hydraulic system with uncertainties and disturbances\",\"authors\":\"Haohao Du, Chenghu Jing, Bingsheng Yan, Chun‐Bin Liu\",\"doi\":\"10.5755/j02.mech.32405\",\"DOIUrl\":null,\"url\":null,\"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.\",\"PeriodicalId\":54741,\"journal\":{\"name\":\"Mechanika\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":0.6000,\"publicationDate\":\"2023-02-06\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Mechanika\",\"FirstCategoryId\":\"5\",\"ListUrlMain\":\"https://doi.org/10.5755/j02.mech.32405\",\"RegionNum\":4,\"RegionCategory\":\"工程技术\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q4\",\"JCRName\":\"MECHANICS\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Mechanika","FirstCategoryId":"5","ListUrlMain":"https://doi.org/10.5755/j02.mech.32405","RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q4","JCRName":"MECHANICS","Score":null,"Total":0}
Passivity-based adaptive robust super-twisting nonlinear control for electro-hydraulic system with uncertainties and disturbances
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.
期刊介绍:
The journal is publishing scientific papers dealing with the following problems:
Mechanics of Solid Bodies;
Mechanics of Fluids and Gases;
Dynamics of Mechanical Systems;
Design and Optimization of Mechanical Systems;
Mechanical Technologies.