Accurate Position Regulation of an Electro-Hydraulic Actuator via Uncertainty Compensation-Based Controller

Ramón I. Verdés, Alejandra Ferreira de Loza, Luis T. Aguilar, Ismael Castillo, Leonid Freidovich

Research output: Chapter in Book/Report/Conference proceedingChapterpeer-review

Abstract

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.

Original languageEnglish
Title of host publicationStudies in Systems, Decision and Control
PublisherSpringer Science and Business Media Deutschland GmbH
Pages279-303
Number of pages25
DOIs
StatePublished - 2021

Publication series

NameStudies in Systems, Decision and Control
Volume318
ISSN (Print)2198-4182
ISSN (Electronic)2198-4190

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