Low-Complexity Error-Surface Prescribed Performance Control for Nonlinear Uncertain Single-Rod Electro-Hydraulic System

This brief presents a novel low-complexity error-surface prescribed performance control (ESPPC) for the single-rod electro-hydraulic system (EHS) subject to uncertain parameters and unknown nonlinearities. Different from existing results, the servo valve spool characteristic is considered to be nonl...

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Bibliographic Details
Published inIEEE transactions on control systems technology Vol. 32; no. 6; pp. 2402 - 2409
Main Authors Wang, Wenbo, Liu, Shuang, Zhao, Dingxuan
Format Journal Article
LanguageEnglish
Published New York IEEE 01.11.2024
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Complexity
Complexity theory
Control rods
Control systems
Convergence
Electro-hydraulic systems (EHSs)
Electrohydraulics
Filtering
Fuzzy logic
Fuzzy systems
Hydraulic equipment
Motion control
motion tracking
Neural networks
Nonlinear control
Nonlinearity
Parameter uncertainty
prescribed performance control
Servocontrol
Servomotors
Servovalves
Steady-state
Tracking
Tracking errors
Transient analysis
unknown dynamics estimator (UDE)
unknown nonlinearity
Valves
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Summary:This brief presents a novel low-complexity error-surface prescribed performance control (ESPPC) for the single-rod electro-hydraulic system (EHS) subject to uncertain parameters and unknown nonlinearities. Different from existing results, the servo valve spool characteristic is considered to be nonlinear rather than linear. To solve the uncertain nonlinearities in the EHS, we propose a new control design approach by utilizing the error surface, the unknown dynamic estimator (UDE), and the prescribed performance methodology, which achieves prescribed transient and steady-state performance for the tracking error while avoiding the use of the backstepping scheme and the approximators [e.g., fuzzy systems (FSs) and neural networks (NNs)]. Moreover, to prevent the propagation of peak phenomenon induced by the UDE to the controlled system, the developed controller is appropriately saturated without impacting the prescribed performance properties of the tracking error. The stability of the EHS has been rigorously proved. Finally, extensive experimental results are offered based on a physical EHS to demonstrate the validity of the proposed approach.
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ISSN:1063-6536
1558-0865
DOI:10.1109/TCST.2024.3390165