Passivity-based adaptive robust super-twisting nonlinear control for electro-hydraulic system with uncertainties and disturbances

Authors

  • Haohao Du School of Mechanical and Electronic Engineering, Henan University of Technology, Zhengzhou 450001, China
  • Chenghu Jing School of Mechanical and Electronic Engineering, Henan University of Technology, Zhengzhou 450001, China
  • Bingsheng Yan School of Mechanical and Electronic Engineering, Henan University of Technology, Zhengzhou 450001, China
  • Chunbo Liu School of Mechanical and Electronic Engineering, Henan University of Technology, Zhengzhou 450001, China

DOI:

https://doi.org/10.5755/j02.mech.32405

Keywords:

Passivity, electro-hydraulic system, super-twisting, sliding mode control, adaptive control

Abstract

In this paper, a passive-based adaptive robust super-twisting nonlinear controller (PBARSNC) is proposed for high accuracy torque tracking control of the novel electro-hydraulic loading system with disturbances and uncertainties. The construction of the stability of this electro-hydraulic control system is given using passivity theory that results in a passivity-based controller (PBC). Considering parameter uncertainties and constant or slowly varying disturbances, adaptive law is adopted in the passivity-based controller. Furthermore, super-twisting second-order sliding mode control is used to reject modeling uncertainties and matched disturbances. Passivity theory, adaptive method and super-twisting algorithm are synthesized via the recursive design method.  The proposed passive-based adaptive robust super-twisting nonlinear control can guarantee the torque tracking performance in the presence of various uncertainties, which is very important for high-accuracy tracking control of hydraulic servo systems. Extensive simulations are carried out to verify the high-accuracy tracking performance of the proposed control strategy.

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Published

2023-02-06

Issue

Vol. 29 No. 1 (2023)

Section

DYNAMICS OF MECHANICAL SYSTEMS

License

The copyright for the articles in this journal is retained by the author(s) with the first publication right granted to the journal. The journal is licensed under the Creative Commons Attribution License 4.0 (CC BY 4.0).