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

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

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.

• Language: English
• Keywords: hydraulic servo actuators, nonlinear features, modeling uncertainties, super-twisting sliding mode control
• Work type: Article
• Typology: 1.01 - Original Scientific Article
• Organization: FS - Faculty of Mechanical Engineering
• Publication status: Published
• Publication version: Version of Record
• Publication date: 01.12.2022
• Year: 2022
• Number of pages: Str. 771-780
• Numbering: Vol. 68, no. 12
• PID: 20.500.12556/RUL-143823
• UDC: 681.5
• ISSN on article: 0039-2480
• DOI: 10.5545/sv-jme.2022.284
• COBISS.SI-ID: 137491971
• Publication date in RUL: 13.01.2023

Record is a part of a journal

• Title: Strojniški vestnik
• Shortened title: Stroj. vestn.
• Publisher: Zveza strojnih inženirjev in tehnikov Slovenije [etc.], = Association of Mechanical Engineers and Technicians of Slovenia [etc.
• ISSN: 0039-2480
• COBISS.SI-ID: 762116

Licences

• License: CC BY 4.0, Creative Commons Attribution 4.0 International
• Link: http://creativecommons.org/licenses/by/4.0/
• Description: This is the standard Creative Commons license that gives others maximum freedom to do what they want with the work as long as they credit the author.

Secondary language

• Language: Slovenian
• Title: Adaptivno vodenje hidravličnega servoaktuatorja z nelinearnimi lastnostmi po načinu drsnega režima »super twisting«
• Keywords: hidravlični servoaktuatorji, nelinearne lastnosti, negotovosti pri modeliranju, vodenje, razširjeni opazovalnik stanj, adaptivna regulacija

Projects

• Funder: Other - Other funder or multiple funders
• Funding programme: Key Science and Technology Program of Henan Province
• Project number: 222102220104

• Funder: Other - Other funder or multiple funders
• Funding programme: High-Level Talent Foundation of Henan University of Technology
• Project number: 2020BS043