High-gain disturbance observer-based backstepping control with output tracking error constraint for electro-hydraulic systems

Daehee Won, Wonhee Kim, Donghoon Shin, Choo Chung Chung

Research output: Contribution to journalArticle

100 Scopus citations

Abstract

We propose a high-gain disturbance observer (HGDOB)-based backstepping control with position tracking error constraint for electro-hydraulic systems to improve the position tracking performance in the presence of disturbances. The HGDOB is designed to estimate the disturbances that include the friction, the load force, and the parameter uncertainties. Auxiliary state variables are proposed to avoid amplification of the measurement noise in the HGDOB. To compensate for the disturbances while guaranteeing tolerance of the position tracking error, the backstepping controller is proposed by using the barrier Lyapunov function. As a result, the proposed method satisfies the output constraint and improves the position tracking performance in the presence of disturbances. Its performance is validated via simulations and experiments.

Original languageEnglish
Article number6839032
Pages (from-to)787-795
Number of pages9
JournalIEEE Transactions on Control Systems Technology
Volume23
Issue number2
DOIs
StatePublished - 2015 Mar 1

Keywords

  • Backstepping
  • disturbance observer
  • electro-hydraulic systems (EHSs)
  • Lyapunov stability
  • output constraint

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