Integral Nonsingular Terminal Sliding Mode Control of Hydraulic Servo Actuator Based on Extended State Observer
Hydraulic servo actuator always suffers from various disturbance and uncertainties, which makes it difficult to design a higher performance controller. In this paper, an integral nonsingular terminal sliding mode controller based on extended state observer (ESO-INTSM) is proposed to improve the robu...
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| Format: | Article |
| Language: | English |
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Wiley
2021-01-01
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| Series: | Shock and Vibration |
| Online Access: | http://dx.doi.org/10.1155/2021/5532076 |
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| _version_ | 1832560642639265792 |
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| author | Zhenshuai Wan Yu Fu |
| author_facet | Zhenshuai Wan Yu Fu |
| author_sort | Zhenshuai Wan |
| collection | DOAJ |
| description | Hydraulic servo actuator always suffers from various disturbance and uncertainties, which makes it difficult to design a higher performance controller. In this paper, an integral nonsingular terminal sliding mode controller based on extended state observer (ESO-INTSM) is proposed to improve the robust performance of hydraulic servo actuator. The ESO is designed to estimate not only the parametric uncertainties but also the model disturbance. Based on the observed states of ESO, the proposed controllers could enable hydraulic servo actuator to track the desired motion trajectories. The stability of the synthesized controller is proved via Lyapunov analysis, which is very important for high-accuracy tracking control of hydraulic servo actuator. Simulation and experimental results demonstrate that the proposed control strategy can effectively attenuate the adverse influence caused by the uncertainties and apparently improve the tracking accuracy. |
| format | Article |
| id | doaj-art-048e14e10be449dca187848215614351 |
| institution | Kabale University |
| issn | 1070-9622 1875-9203 |
| language | English |
| publishDate | 2021-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Shock and Vibration |
| spelling | doaj-art-048e14e10be449dca1878482156143512025-02-03T01:27:00ZengWileyShock and Vibration1070-96221875-92032021-01-01202110.1155/2021/55320765532076Integral Nonsingular Terminal Sliding Mode Control of Hydraulic Servo Actuator Based on Extended State ObserverZhenshuai Wan0Yu Fu1School of Mechanical and Electrical Engineering, Henan University of Technology, Zhengzhou 450001, ChinaSchool of Mechanical and Electrical Engineering, Henan University of Technology, Zhengzhou 450001, ChinaHydraulic servo actuator always suffers from various disturbance and uncertainties, which makes it difficult to design a higher performance controller. In this paper, an integral nonsingular terminal sliding mode controller based on extended state observer (ESO-INTSM) is proposed to improve the robust performance of hydraulic servo actuator. The ESO is designed to estimate not only the parametric uncertainties but also the model disturbance. Based on the observed states of ESO, the proposed controllers could enable hydraulic servo actuator to track the desired motion trajectories. The stability of the synthesized controller is proved via Lyapunov analysis, which is very important for high-accuracy tracking control of hydraulic servo actuator. Simulation and experimental results demonstrate that the proposed control strategy can effectively attenuate the adverse influence caused by the uncertainties and apparently improve the tracking accuracy.http://dx.doi.org/10.1155/2021/5532076 |
| spellingShingle | Zhenshuai Wan Yu Fu Integral Nonsingular Terminal Sliding Mode Control of Hydraulic Servo Actuator Based on Extended State Observer Shock and Vibration |
| title | Integral Nonsingular Terminal Sliding Mode Control of Hydraulic Servo Actuator Based on Extended State Observer |
| title_full | Integral Nonsingular Terminal Sliding Mode Control of Hydraulic Servo Actuator Based on Extended State Observer |
| title_fullStr | Integral Nonsingular Terminal Sliding Mode Control of Hydraulic Servo Actuator Based on Extended State Observer |
| title_full_unstemmed | Integral Nonsingular Terminal Sliding Mode Control of Hydraulic Servo Actuator Based on Extended State Observer |
| title_short | Integral Nonsingular Terminal Sliding Mode Control of Hydraulic Servo Actuator Based on Extended State Observer |
| title_sort | integral nonsingular terminal sliding mode control of hydraulic servo actuator based on extended state observer |
| url | http://dx.doi.org/10.1155/2021/5532076 |
| work_keys_str_mv | AT zhenshuaiwan integralnonsingularterminalslidingmodecontrolofhydraulicservoactuatorbasedonextendedstateobserver AT yufu integralnonsingularterminalslidingmodecontrolofhydraulicservoactuatorbasedonextendedstateobserver |