Journal of Drive and Control (드라이브 ㆍ 컨트롤)

The Korean Society for Fluid Power and Construction Equipment (유공압건설기계학회)
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Extended-State-Observer-Based Nonlinear Servo Control of An Electro-Hydrostatic Actuator

전기-정유압 구동기의 확장 상태 관측기 기반 비선형 서보 제어

  • Jun, Gi Ho (Graduate School of Mechanical Engineering, University of Ulsan) ;
  • Ahn, Kyoung Kwan (Department of Mechanical Engineering, University of Ulsan,)
  • Received : 2017.10.16
  • Accepted : 2017.11.23
  • Published : 2017.12.01
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Abstract

In this study, an extended-state-observer (ESO) based non-linear servo control is introduced for an electro-hydrostatic actuator (EHA). Almost hydraulic systems not only are highly non-linear system that has mismatched uncertainties and external disturbances, but also can not measure some states. ESO that only use an output signal can be used to compensate these uncertainties and estimate unmeasurable states. To improve the position tracking performance, the barrier Lyapunov function (BLF) that can guarantee an output tolerance is introduced for the position tracking error signal of back stepping control procedures. Finally, the proposed servo control is compared with the proportional-integral (PI) control.

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References

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