TY - GEN
T1 - Electro-Hydrostatic actuator active disturbance rejection control based on cascade expansion observers
AU - Liu, Zishuo
AU - Zhao, Xuanhu
AU - Liu, Hui
AU - Han, Lijin
AU - Xie, Jingshuo
AU - Nie, Shida
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - 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.
AB - 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.
KW - active disturbance rejection control(ADRC)
KW - cascaded extended state observer
KW - electro-hydrostatic actuator
UR - http://www.scopus.com/inward/record.url?scp=85185388643&partnerID=8YFLogxK
U2 - 10.1109/CVCI59596.2023.10397115
DO - 10.1109/CVCI59596.2023.10397115
M3 - Conference contribution
AN - SCOPUS:85185388643
T3 - Proceedings of the 2023 7th CAA International Conference on Vehicular Control and Intelligence, CVCI 2023
BT - Proceedings of the 2023 7th CAA International Conference on Vehicular Control and Intelligence, CVCI 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 7th CAA International Conference on Vehicular Control and Intelligence, CVCI 2023
Y2 - 27 October 2023 through 29 October 2023
ER -