Actuator failure compensation-based command filtered control of electro-hydraulic system with position constraint

Area of Science:

• Control Engineering
• Robotics
• Hydraulic Systems

Background:

• Electro-hydraulic actuators are crucial in many industrial applications.
• Actuator faults and external disturbances can compromise system performance and safety.
• Existing fault-tolerant control (FTC) methods often face complexity challenges.

Purpose of the Study:

• To design and experimentally validate a robust fault-tolerant controller for a double-rod electro-hydraulic actuator.
• To address internal leakage (bias fault) and loss of effectiveness (LOE) faults.
• To ensure system stability and output position boundary adherence under faulty conditions.

Main Methods:

• Utilized nonlinear disturbance observers (NDO) to mitigate disturbances and bias faults.
• Employed an asymmetric barrier Lyapunov function for output position boundary control.
• Developed an enhanced adaptive compensation technique for LOE fault management.
• Implemented command-filtered control to simplify the backstepping design process.

Main Results:

• Theoretical analysis confirmed system stability under various fault scenarios.
• Simulation and experimental results demonstrated the effectiveness of the proposed FTC approach.
• The controller successfully compensated for actuator faults and external disturbances.

Conclusions:

• The proposed fault-tolerant control strategy is effective for electro-hydraulic actuators.
• The method ensures robust performance and stability in the presence of actuator faults and disturbances.
• This work contributes to the reliable operation of critical hydraulic systems.