TY - CHAP
T1 - Accurate Position Regulation of an Electro-Hydraulic Actuator via Uncertainty Compensation-Based Controller
AU - Verdés, Ramón I.
AU - Ferreira de Loza, Alejandra
AU - Aguilar, Luis T.
AU - Castillo, Ismael
AU - Freidovich, Leonid
N1 - Publisher Copyright:
© 2021, Springer Nature Singapore Pte Ltd.
PY - 2021
Y1 - 2021
N2 - Electro-hydraulic actuators are complex systems with uncertainties in their parameters and disregarded dynamics due to its complexity. This paper presents a disturbance observer-based controller method for the accurate position regulation of an electro-hydraulic actuator. To this aim, a super-twisting algorithm-based observer identifies the plant uncertainties and neglected dynamics, theoretically, in finite-time. Thus, a compensation based controller is designed to counteract the uncertainty and neglected dynamics effects through feedback, improving the position regulation accuracy. The closed-loop analysis is carried out using Lyapunov theory. The feasibility of the controller is validated through high-fidelity simulations and experiments in a forestry crane.
AB - Electro-hydraulic actuators are complex systems with uncertainties in their parameters and disregarded dynamics due to its complexity. This paper presents a disturbance observer-based controller method for the accurate position regulation of an electro-hydraulic actuator. To this aim, a super-twisting algorithm-based observer identifies the plant uncertainties and neglected dynamics, theoretically, in finite-time. Thus, a compensation based controller is designed to counteract the uncertainty and neglected dynamics effects through feedback, improving the position regulation accuracy. The closed-loop analysis is carried out using Lyapunov theory. The feasibility of the controller is validated through high-fidelity simulations and experiments in a forestry crane.
UR - http://www.scopus.com/inward/record.url?scp=85098194141&partnerID=8YFLogxK
U2 - 10.1007/978-981-15-8613-2_12
DO - 10.1007/978-981-15-8613-2_12
M3 - Capítulo
AN - SCOPUS:85098194141
T3 - Studies in Systems, Decision and Control
SP - 279
EP - 303
BT - Studies in Systems, Decision and Control
PB - Springer Science and Business Media Deutschland GmbH
ER -