首页|Dual extended state observer-based adaptive dynamic surface control for a hydraulic manipulator with actuator dynamics
Dual extended state observer-based adaptive dynamic surface control for a hydraulic manipulator with actuator dynamics
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NSTL
Elsevier
This paper presents an adaptive robust control method based on a dual extended state observer for a multi-DOF hydraulic manipulator with unknown uncertainties and disturbances. First, the mathematical model of the manipulator is derived considering the hydraulic actuator dynamics. Then, A dual extended stated observer is explored to estimate the matched and unmatched disturbances in the dynamic model simultaneously. Meanwhile, a composite adaptive law using historical data is designed to handle the parameter uncertainties and guarantee that the estimated parameters converge with time. A dynamic surface controller is employed to stabilize the closed-loop system without velocity feedback. Afterward, comparative experiments of the position tracking are performed with two cases, and the results demonstrate the effectiveness of the proposed control method.
Hydraulic manipulatorDual extended state observerDynamic surface controlActuator dynamicsComposite adaptive law
Xiaofu Zhang、Guanglin Shi
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School of Mechanical Engineering, Shanghai Jiao Tong University
NSTL
Elsevier
