Adaptive super-twisting sliding mode control of hydraulic servo actuator with nonlinear features and modeling uncertainties

Zhenshuai Wan (Author), Yu Fu (Author), Longwang Yue (Author), Chong Liu (Author)

Abstract

This study proposes a novel adaptive super-twisting sliding mode controller (ASTSMC) for hydraulic servo actuator with nonlinear features and modeling uncertainties. In the proposed method, an extended state observer (ESO) is utilized to estimate the value of lumped uncertainties. The core feature of this paper is the combination of ASTSMC with ESO to compensate disturbance in hydraulic servo actuator. Moreover, the proposed ASTSMC does not need to obtain the bound of uncertainties in advance and ensures the sliding variable and its derivative reach to zero in a finite time. In addition, the stability of the closed-loop is proved by Lyapunov theory. Simulation and experiment results demonstrate the proposed ASTSMC can effectively mitigate the lumped uncertainties and obviously improve the tracking performance.

Keywords

hydraulic servo actuators;nonlinear features;modeling uncertainties;super-twisting sliding mode control;

Data

Language:	English
Year of publishing:	2022
Typology:	1.01 - Original Scientific Article
Organization:	UL FS - Faculty of Mechanical Engineering
UDC:	681.5
COBISS:	137491971
ISSN:	0039-2480
Views:	16
Downloads:	4
Average score:	0 (0 votes)
Metadata:

Other data

Secondary language:	Slovenian
Secondary title:	Adaptivno vodenje hidravličnega servoaktuatorja z nelinearnimi lastnostmi po načinu drsnega režima »super twisting«
Secondary keywords:	hidravlični servoaktuatorji;nelinearne lastnosti;negotovosti pri modeliranju;vodenje;razširjeni opazovalnik stanj;adaptivna regulacija;
Type (COBISS):	Article
Pages:	str. 771-780
Volume:	ǂVol. ǂ68
Issue:	ǂno. ǂ12
Chronology:	Dec. 2022
DOI:	10.5545/sv-jme.2022.284
ID:	17698384