Disturbance observer based backstepping for position control of electro-hydraulic systems
We propose a disturbance observer (DOB) based backstepping control which improves the position tracking performance in the presence of both friction and load force in an electro-hydraulic systems. The DOB is designed to estimate the disturbance including friction and load force, while avoiding ampli...
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Published in | International journal of control, automation, and systems Vol. 13; no. 2; pp. 488 - 493 |
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Main Authors | , |
Format | Journal Article |
Language | English |
Published |
Heidelberg
Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers
01.04.2015
Springer Nature B.V 제어·로봇·시스템학회 |
Subjects | |
Online Access | Get full text |
ISSN | 1598-6446 2005-4092 |
DOI | 10.1007/s12555-013-0396-y |
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Summary: | We propose a disturbance observer (DOB) based backstepping control which improves the position tracking performance in the presence of both friction and load force in an electro-hydraulic systems. The DOB is designed to estimate the disturbance including friction and load force, while avoiding amplification of the measurement noise. We use an auxiliary state variable to avoid the use of the derivative of the measured signal. This results in the avoidance of the amplification of the measurement noise. For position tracking with compensation of disturbances, a backstepping controller is design. The backstepping controller guarantees the ultimate boundedness of the tracking error in the presence of both friction and load force. The closed-loop stability is proven using Lyapunov’s theory. |
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Bibliography: | SourceType-Scholarly Journals-1 ObjectType-Feature-1 content type line 14 ObjectType-Article-1 ObjectType-Feature-2 content type line 23 http://link.springer.com/article/10.1007/s12555-013-0396-y G704-000903.2015.13.2.010 |
ISSN: | 1598-6446 2005-4092 |
DOI: | 10.1007/s12555-013-0396-y |