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 inInternational journal of control, automation, and systems Vol. 13; no. 2; pp. 488 - 493
Main Authors Won, Daehee, Kim, Wonhee
Format Journal Article
LanguageEnglish
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
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ISSN1598-6446
2005-4092
DOI10.1007/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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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