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Coupled-disturbance-observer-based position tracking control for a cascade electro-hydraulic system.

Qing Guo1, Jing-Min Yin1, Tian Yu2

  • 1School of Aeronautics and Astronautics, University of Electronic Science and Technology of China, 611731 Chengdu, China.

ISA Transactions
|March 11, 2017
PubMed
Summary

This study introduces a new control method for electro-hydraulic systems to suppress unknown disturbances. The approach enhances dynamic performance and motion control accuracy in robotic arms.

Keywords:
Cascade controllerCoupled disturbance observerElectro-hydraulic systemTwo-Degree-of-Freedom robotic arm

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Area of Science:

  • Control Systems Engineering
  • Robotics
  • Hydraulic Systems

Background:

  • Disturbance suppression is critical in electro-hydraulic systems.
  • Unknown disturbances degrade dynamic performance by affecting actuator outputs like forces and torques.
  • Multi-degree-of-freedom manipulators are particularly susceptible to these performance degradations.

Purpose of the Study:

  • To propose a state feedback control strategy for cascade electro-hydraulic systems.
  • To address and reject dynamic disturbances in multi-degree-of-freedom manipulators.
  • To improve the dynamic performance and motion control of robotic arms.

Main Methods:

  • A state feedback controller based on a coupled disturbance observer with backstepping is proposed.
  • The coupled disturbance observer estimates independent and coupled elements of external loads on electro-hydraulic actuators.
  • The controller compensates for estimated disturbances and ensures system state error convergence.

Main Results:

  • The proposed controller effectively suppresses largely unknown disturbances.
  • Comparative studies demonstrate improved dynamic performance.
  • The approach shows potential for enhanced motion control in Two-Degree-of-Freedom (2DOF) robotic arms.

Conclusions:

  • The developed control strategy successfully rejects dynamic disturbances in electro-hydraulic systems.
  • The coupled disturbance observer and backstepping controller combination achieves robust performance.
  • This method offers a significant improvement in the motion control of robotic manipulators.