Yang Xiaowei, Yao Jianyong, Deng Wenxiang
School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China.
ISA Trans. 2021 Mar;109:175-185. doi: 10.1016/j.isatra.2020.09.014. Epub 2020 Oct 1.
This paper presents an output feedback adaptive super-twisting sliding mode controller (SSMC) for hydraulic systems with unmodeled disturbances via utilizing an extended state observer (ESO). Both unmeasured system states and unmodeled disturbances are estimated by ESO based on output position signal, which avoids using noise-polluted signals and eliminates most of the disturbance effects on control performance simultaneously. Moreover, a SSMC is developed to further suppress the residual error of disturbance compensation, in which feedback gains are adapted online to further reduce the high-gain feedback. In addition, this proposed controller is continuous and chattering-free, which is beneficial to practical applications. Theoretical analysis indicates that the proposed controller ensures an asymptotic stability when existing constant disturbances, and ultimately bounded tracking performance for the time-variant disturbance case. Comparative experimental results reveal the validity of the developed approach.
本文通过利用扩展状态观测器（ESO），提出了一种用于具有未建模干扰的液压系统的输出反馈自适应超扭曲滑模控制器（SSMC）。基于输出位置信号，ESO对未测量的系统状态和未建模干扰进行估计，这避免了使用受噪声污染的信号，并同时消除了大部分干扰对控制性能的影响。此外，开发了一种SSMC以进一步抑制干扰补偿的残余误差，其中反馈增益在线自适应，以进一步降低高增益反馈。此外，所提出的控制器是连续且无抖振的，这有利于实际应用。理论分析表明，所提出的控制器在存在恒定干扰时确保渐近稳定性，对于时变干扰情况具有最终有界的跟踪性能。对比实验结果揭示了所开发方法的有效性。
