Adaptive super-twisting sliding mode control of hydraulic servo actuator with nonlinear features and modeling uncertainties
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.
2022
2023-01-13 08:22:48
1033
hydraulic servo actuators, nonlinear features, modeling uncertainties, super-twisting sliding mode control
hidravlični servoaktuatorji, nelinearne lastnosti, negotovosti pri modeliranju, vodenje, razširjeni opazovalnik stanj, adaptivna regulacija
dk_c
Zhenshuai
Wan
70
Yu
Fu
70
Longwang
Yue
70
Chong
Liu
70
UDK
4
681.5
ISSN pri članku
9
0039-2480
DOI
15
10.5545/sv-jme.2022.284
COBISS_ID
3
137491971
Wan...-Adaptive_Super-twisting_Sliding_Mode_Control....pdf
2905868
Predstavitvena datoteka
2023-01-13 08:24:20
0
Izvorni URL
2023-01-13 08:22:56