期刊
IEEE-ASME TRANSACTIONS ON MECHATRONICS
卷 22, 期 6, 页码 2695-2704出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TMECH.2017.2764110
关键词
Electrohydraulic servo system (EHSS); flat-ness; observer; position tracking control
类别
资金
- National Research Foundation of Korea - Ministry of Education [NRF-2016R1C1B1014831]
- Korea Institute of Industrial Technology [KITECH EO170045]
- National Research Council of Science & Technology (NST), Republic of Korea [EO170045] Funding Source: Korea Institute of Science & Technology Information (KISTI), National Science & Technology Information Service (NTIS)
- National Research Foundation of Korea [2016R1C1B1014831] Funding Source: Korea Institute of Science & Technology Information (KISTI), National Science & Technology Information Service (NTIS)
Although previous control methods improve control performance in electrohydraulic servo system (EHSS), they require full-state feedback information and/or the derivative of the measured signals so that noise may be amplified. In this paper, we propose a high-gain-observer-based integral sliding mode control to improve the position tracking performance of the EHSSs while solving the previous problems. The proposed method consists of a high-gain observer and an integral sliding mode controller. The high-gain observer is designed to estimate the velocity and load pressure using the position feedback. The stability is proven without the approximation of the model in EHSS. The integral sliding mode controller is proposed to improve the position tracking performance using the flatness property of the system. In the controller, the required derivatives of the state variables are obtained using the flatness property without employing the derivative of the measured signal.
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