An event-triggered based robust control for electro-hydraulic servo machines with active disturbances rejection. Issue 7 (May 2022)

• Record Type: Journal Article
• Authors: Shen, Wei; Zhao, Haiming; Zhang, Guangcheng; Lin, Yueh-Jaw
• Is Part Of: Journal of the Franklin Institute. Volume 359:Issue 7(2022)
• Page Start: 2857
• Page End: 2885
• Publication Date: 2022-05
• Subjects: Science -- Periodicals; Technology -- Periodicals; Patents -- United States -- Periodicals; 505
• DOI: 10.1016/j.jfranklin.2022.02.037
• Languages: English
• ISSNs: 0016-0032

Abstract

Highlights: The limited available communication bandwidth is considered in the networked electro-hydraulic servo system. Specifically, the practical application of the event-triggered scheme in an actual electro-hydraulic servo system is a breakthrough in this paper. Bandwidth constrained problem, sensor installation restricted problem, matched modeling uncertainties and mismatched disturbances are considered in the controller design. With the help of the state and disturbance observers, the tracking error can converge well with the measured angle signals only. To verify the effectiveness of the designed controller, the related comparative experiments are carried out. The results show that theoretical analysis and experimentation are cross verified. Graphical abstract: Abstract: From an interdisciplinary perspective, the event-triggered scheme, the state observer, and the nonlinear disturbance observer are introduced in a robust tracking control to study the networked electro-hydraulic servo system control problems with digital communication challenge, sensor installation restricted problem, matched modeling uncertainties, and mismatched disturbances. Control packets are likely to be delayed or even lost in the networked control system when the communication medium is shared by multiple nodes and the available communication bandwidth is limited. Therefore, it is necessary to save communication resources. To improve the control performance and the efficiency of the network resource utilization, the event-triggered scheme is introduced. Specifically, the practical application of the event-triggered scheme in an actual electro-hydraulic servo system is a breakthrough in this paper. In addition, to obtain the real-time states of the unmeasurable system and compensate for both matched disturbances and external disturbances simultaneously, the state observer and the nonlinear disturbance observer are collaboratively designed. Finally, to evaluate the control performance of the designed controller, the related comparative experiments are carried out in an actual system. The results show that theoretical analysis and experimentation are cross verified.