Disturbance-Observer-Based Position Tracking Controller in the Presence of Biased Sinusoidal Disturbance for Electrohydraulic Actuators

Title
Disturbance-Observer-Based Position Tracking Controller in the Presence of Biased Sinusoidal Disturbance for Electrohydraulic Actuators
Author
정정주
Keywords
Torque, Friction; Actuators; Estimation error; Electrohydraulics; Position control
Issue Date
2013-11
Publisher
INSTITUTE OF ELECTRICAL AND ELECTRONICS ENGINEERS
Citation
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 21(6), p.2290-2298
Abstract
A nonlinear position tracking controller with a disturbance observer (DOB) is proposed to track the desired position in the presence of the disturbance for electrohydraulic actuators (EHAs). The DOB is designed in the form of a second-order high-pass filter in order to estimate the disturbance. The nonlinear controller is designed for position tracking as a near input-output linearizing inner-loop load pressure controller and a backstepping outer-loop position controller. Variable structure control is implemented in order to compensate for the error in disturbance estimation. The desired load pressure is designed to generate the pressure using the differential flatness property of the EHA's mechanical subsystem. The disturbance within the bandwidth of the DOB can be cancelled by the proposed method. The performance of the proposed method is validated via simulations and experiments.
URI
http://ieeexplore.ieee.org/document/6425445/http://hdl.handle.net/20.500.11754/55185
ISSN
1063-6536; 1558-0865
DOI
10.1109/TCST.2013.2237909
Appears in Collections:
COLLEGE OF ENGINEERING[S](공과대학) > ELECTRICAL AND BIOMEDICAL ENGINEERING(전기·생체공학부) > Articles
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