Robust Nonlinear Control Scheme for Electro-Hydraulic Force Tracking Control with Time-Varying Output Constraint

This paper presents a robust nonlinear control scheme with time-varying output constraint for the electro-hydraulic force control system (EHFCS). Two typical double-rod symmetrical hydraulic cylinders are employed to simulate force environments in the EHFCS. Therefore, in order to improve the perfor...

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Autores principales:	Wanshun Zang, Qiang Zhang, Jinpeng Su, Long Feng
Formato:	article
Lenguaje:	EN
Publicado:	MDPI AG 2021
Materias:	electro-hydraulic force control system time-varying output constraint disturbance observer Lyapunov stability Mathematics QA1-939
Acceso en línea:	https://doaj.org/article/7a6bc80d5b50472c8b98709cc9887077
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spelling	oai:doaj.org-article:7a6bc80d5b50472c8b98709cc98870772021-11-25T19:06:31ZRobust Nonlinear Control Scheme for Electro-Hydraulic Force Tracking Control with Time-Varying Output Constraint10.3390/sym131120742073-8994https://doaj.org/article/7a6bc80d5b50472c8b98709cc98870772021-11-01T00:00:00Zhttps://www.mdpi.com/2073-8994/13/11/2074https://doaj.org/toc/2073-8994This paper presents a robust nonlinear control scheme with time-varying output constraint for the electro-hydraulic force control system (EHFCS). Two typical double-rod symmetrical hydraulic cylinders are employed to simulate force environments in the EHFCS. Therefore, in order to improve the performance of the EHFCS, firstly, the model of the EHFCS is established with taking external disturbances, parameter uncertainties as well as structural vibrations into consideration. Secondly, in order to estimate external disturbances, parameter uncertainties and structural vibrations in the EHFCS and compensate them in the following robust controller design, two disturbance observers (DOs) are designed according to the nonlinear system model. Thirdly, with two estimation values from two DOs, a time-varying constraint-based robust controller (TVCRC) is presented in detail. Moreover, the stability of the proposed controller is analyzed by defining a proper Lyapunov functions. Finally, in order to validate the performance of the proposed controller, a series of simulation studies are conducted using the MATLAB/Simulink software. These simulation results give a fine proof of the efficiency of the proposed controller. What’s more, an experimental setup of the EHFCS is established to further validate the performance. Comparative experimental results show that the proposed controller exhibits better performance than the TVCRC without two DOs and a conventional proportional integral (PI) controller.Wanshun ZangQiang ZhangJinpeng SuLong FengMDPI AGarticleelectro-hydraulic force control systemtime-varying output constraintdisturbance observerLyapunov stabilityMathematicsQA1-939ENSymmetry, Vol 13, Iss 2074, p 2074 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	electro-hydraulic force control system time-varying output constraint disturbance observer Lyapunov stability Mathematics QA1-939
spellingShingle	electro-hydraulic force control system time-varying output constraint disturbance observer Lyapunov stability Mathematics QA1-939 Wanshun Zang Qiang Zhang Jinpeng Su Long Feng Robust Nonlinear Control Scheme for Electro-Hydraulic Force Tracking Control with Time-Varying Output Constraint
description	This paper presents a robust nonlinear control scheme with time-varying output constraint for the electro-hydraulic force control system (EHFCS). Two typical double-rod symmetrical hydraulic cylinders are employed to simulate force environments in the EHFCS. Therefore, in order to improve the performance of the EHFCS, firstly, the model of the EHFCS is established with taking external disturbances, parameter uncertainties as well as structural vibrations into consideration. Secondly, in order to estimate external disturbances, parameter uncertainties and structural vibrations in the EHFCS and compensate them in the following robust controller design, two disturbance observers (DOs) are designed according to the nonlinear system model. Thirdly, with two estimation values from two DOs, a time-varying constraint-based robust controller (TVCRC) is presented in detail. Moreover, the stability of the proposed controller is analyzed by defining a proper Lyapunov functions. Finally, in order to validate the performance of the proposed controller, a series of simulation studies are conducted using the MATLAB/Simulink software. These simulation results give a fine proof of the efficiency of the proposed controller. What’s more, an experimental setup of the EHFCS is established to further validate the performance. Comparative experimental results show that the proposed controller exhibits better performance than the TVCRC without two DOs and a conventional proportional integral (PI) controller.
format	article
author	Wanshun Zang Qiang Zhang Jinpeng Su Long Feng
author_facet	Wanshun Zang Qiang Zhang Jinpeng Su Long Feng
author_sort	Wanshun Zang
title	Robust Nonlinear Control Scheme for Electro-Hydraulic Force Tracking Control with Time-Varying Output Constraint
title_short	Robust Nonlinear Control Scheme for Electro-Hydraulic Force Tracking Control with Time-Varying Output Constraint
title_full	Robust Nonlinear Control Scheme for Electro-Hydraulic Force Tracking Control with Time-Varying Output Constraint
title_fullStr	Robust Nonlinear Control Scheme for Electro-Hydraulic Force Tracking Control with Time-Varying Output Constraint
title_full_unstemmed	Robust Nonlinear Control Scheme for Electro-Hydraulic Force Tracking Control with Time-Varying Output Constraint
title_sort	robust nonlinear control scheme for electro-hydraulic force tracking control with time-varying output constraint
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/7a6bc80d5b50472c8b98709cc9887077
work_keys_str_mv	AT wanshunzang robustnonlinearcontrolschemeforelectrohydraulicforcetrackingcontrolwithtimevaryingoutputconstraint AT qiangzhang robustnonlinearcontrolschemeforelectrohydraulicforcetrackingcontrolwithtimevaryingoutputconstraint AT jinpengsu robustnonlinearcontrolschemeforelectrohydraulicforcetrackingcontrolwithtimevaryingoutputconstraint AT longfeng robustnonlinearcontrolschemeforelectrohydraulicforcetrackingcontrolwithtimevaryingoutputconstraint
_version_	1718410286216511488

Robust Nonlinear Control Scheme for Electro-Hydraulic Force Tracking Control with Time-Varying Output Constraint

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