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

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

Povzetek

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.

Ključne besede

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

Podatki

Jezik:	Angleški jezik
Leto izida:	2022
Tipologija:	1.01 - Izvirni znanstveni članek
Organizacija:	UL FS - Fakulteta za strojništvo
UDK:	681.5
COBISS:	137491971
ISSN:	0039-2480
Št. ogledov:	16
Št. prenosov:	4
Ocena:	0 (0 glasov)
Metapodatki:

Ostali podatki

Sekundarni jezik:	Slovenski jezik
Sekundarni naslov:	Adaptivno vodenje hidravličnega servoaktuatorja z nelinearnimi lastnostmi po načinu drsnega režima »super twisting«
Sekundarne ključne besede:	hidravlični servoaktuatorji;nelinearne lastnosti;negotovosti pri modeliranju;vodenje;razširjeni opazovalnik stanj;adaptivna regulacija;
Vrsta dela (COBISS):	Članek v reviji
Strani:	str. 771-780
Letnik:	ǂVol. ǂ68
Zvezek:	ǂno. ǂ12
Čas izdaje:	Dec. 2022
DOI:	10.5545/sv-jme.2022.284
ID:	17698384