High-gain observer-based output feedback control of single-rod electro-hydraulic actuator

Qing Guo; Tian Yu; Dan Jiang

High-gain observer-based output feedback control of single-rod electro-hydraulic actuator

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Author(s): Qing Guo ^{1, 2} ; Tian Yu ¹ ; Dan Jiang ³
- Affiliations: 1: Center for Power Transmission and Motion Control, Department of Mechanical Engineering, University of Bath, BA2 7AY, Bath, UK ;
  2: School of Aeronautics and Astronautics, University of Electronic Science and Technology of China, Chengdu 611731, People's Republic of China ;
  3: School of Mechatronics Engineering, University of Electronic Science and Technology of China, Chengdu 611731, People's Republic of China
Source: Volume 9, Issue 16, 29 October 2015, p. 2395 – 2404
DOI: 10.1049/iet-cta.2014.1158 , Print ISSN 1751-8644, Online ISSN 1751-8652

Received 06/11/2014, Accepted 14/07/2015, Revised 11/05/2015, Published 11/08/2015

In this study, a non-linear backstepping control method based on a high-gain observer design is presented for a single-rod electro-hydraulic actuator, which is not a strict feedback non-linear system. An equivalent model transformation is used for load pressure to establish the relationship between displacement command and virtual command of load pressure. So the convergence analysis of the single-rod electro-hydraulic servo (EHS) model can be divided into two parts. Since the EHS has only one measured output state, a high-gain observer is developed to estimate the full-state of EHS, which can be used in the design of backstepping control. Furthermore, the convergence of this proposed controller is proved by Lyapunov technique. The experimental results verify the dynamic behaviour of this controller varying the observer parameters. In comparison to proportional–integral controller, the proposed controller is more suitable for this EHS in some critical conditions with high response frequency and large unknown external load.

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High-gain observer-based output feedback control of single-rod electro-hydraulic actuator

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