Extended-State-Observer-Based Output Feedback Nonlinear Robust Control of Hydraulic Systems With Backstepping
Nanjing University of Science and Technology · Beihang University
Abstract
In this paper, an output feedback nonlinear control is proposed for a hydraulic system with mismatched modeling uncertainties in which an extended state observer (ESO) and a nonlinear robust controller are synthesized via the backstepping method. The ESO is designed to estimate not only the unmeasured system states but also the modeling uncertainties. The nonlinear robust controller is designed to stabilize the closed-loop system. The proposed controller accounts for not only the nonlinearities (e.g., nonlinear flow features of servovalve), but also the modeling uncertainties (e.g., parameter derivations and unmodeled dynamics). Furthermore, the controller theoretically guarantees a prescribed tracking…
Citation impact
- FWCI
- 88.58
- Percentile
- 100%
- References
- 40
Authors
3Topics & keywords
- Control theory (sociology)
- Backstepping
- Nonlinear system
- Control engineering
- Robust control
- Controller (irrigation)
- State observer
- Servomechanism