Electro-Hydrostatic actuator active disturbance rejection control based on cascade expansion observers

Zishuo Liu, Xuanhu Zhao, Hui Liu, Lijin Han, Jingshuo Xie, Shida Nie

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

In order to enhance the dynamic characteristics and disturbance rejection capability of an electro-hydrostatic actuator (EHA), a self-disturbance rejection control method using cascaded extended state observers is proposed. Firstly, the mathematical model of the EHA is established by considering its system composition. Subsequently, based on the mathematical model, a tracking differentiator and linear state error feedback control law are designed. Finally, improvements are made to the extended state observer (ESO) by employing a two-level cascaded extended state observer to estimate the total disturbance acting on the system. This enhancement aims to improve the estimation accuracy of the ESO for disturbances, enhance the system's disturbance rejection capability, and strengthen its robustness. The improved ADRC has been validated through both simulation and experimental analyses, affirming its advancements in dynamic response, anti-jamming capability, and robustness.

Original languageEnglish
Title of host publicationProceedings of the 2023 7th CAA International Conference on Vehicular Control and Intelligence, CVCI 2023
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9798350340488
DOIs
Publication statusPublished - 2023
Event7th CAA International Conference on Vehicular Control and Intelligence, CVCI 2023 - Changsha, China
Duration: 27 Oct 202329 Oct 2023

Publication series

NameProceedings of the 2023 7th CAA International Conference on Vehicular Control and Intelligence, CVCI 2023

Conference

Conference7th CAA International Conference on Vehicular Control and Intelligence, CVCI 2023
Country/TerritoryChina
CityChangsha
Period27/10/2329/10/23

Keywords

  • active disturbance rejection control(ADRC)
  • cascaded extended state observer
  • electro-hydrostatic actuator

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Liu, Z., Zhao, X., Liu, H., Han, L., Xie, J., & Nie, S. (2023). Electro-Hydrostatic actuator active disturbance rejection control based on cascade expansion observers. In Proceedings of the 2023 7th CAA International Conference on Vehicular Control and Intelligence, CVCI 2023 (Proceedings of the 2023 7th CAA International Conference on Vehicular Control and Intelligence, CVCI 2023). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CVCI59596.2023.10397115