Generalized Super-Twisting Backstepping Sliding Mode Control for Electro-Hydraulic Servo Systems Considering the Coexistence of Matched and Mismatched Uncertainties
Aiming at the problem of the coexistence of matching and mismatching uncertainties in electro-hydraulic servo systems, disturbance observers and a backstepping sliding mode controller based on the generalized super-twisting algorithm (GSTA) are proposed in this paper. First, in order to compensate f...
| Main Authors: | , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2023-04-01
|
| Series: | Applied Sciences |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-3417/13/8/4931 |
| _version_ | 1797606594465234944 |
|---|---|
| author | Qianyu Cao Xiaoyu Su |
| author_facet | Qianyu Cao Xiaoyu Su |
| author_sort | Qianyu Cao |
| collection | DOAJ |
| description | Aiming at the problem of the coexistence of matching and mismatching uncertainties in electro-hydraulic servo systems, disturbance observers and a backstepping sliding mode controller based on the generalized super-twisting algorithm (GSTA) are proposed in this paper. First, in order to compensate for the uncertainty in the controller, two generalized super-twisting disturbance observers (GSTDOs) are constructed to effectively reduce the discontinuous gain of the controller. Then, the GSTA is introduced to optimize the backstepping sliding mode controller to obtain a better control effect. Finally, the proposed control strategy is compared and simulated on the electro-hydraulic servo system. The experimental results verify that the proposed control strategy has better tracking performance. The effect of asymptotic tracking in the presence of parameter uncertainties and disturbances is achieved, while transient tracking performance and final tracking accuracy are guaranteed in the presence of time-varying uncertain nonlinearities. |
| first_indexed | 2024-03-11T05:17:24Z |
| format | Article |
| id | doaj.art-ec01549805b24793929ad561d3854803 |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-11T05:17:24Z |
| publishDate | 2023-04-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-ec01549805b24793929ad561d38548032023-11-17T18:11:18ZengMDPI AGApplied Sciences2076-34172023-04-01138493110.3390/app13084931Generalized Super-Twisting Backstepping Sliding Mode Control for Electro-Hydraulic Servo Systems Considering the Coexistence of Matched and Mismatched UncertaintiesQianyu Cao0Xiaoyu Su1School of Electronic and Electrical Engineering, Shanghai University of Engineering Science, Shanghai 201620, ChinaSchool of Electronic and Electrical Engineering, Shanghai University of Engineering Science, Shanghai 201620, ChinaAiming at the problem of the coexistence of matching and mismatching uncertainties in electro-hydraulic servo systems, disturbance observers and a backstepping sliding mode controller based on the generalized super-twisting algorithm (GSTA) are proposed in this paper. First, in order to compensate for the uncertainty in the controller, two generalized super-twisting disturbance observers (GSTDOs) are constructed to effectively reduce the discontinuous gain of the controller. Then, the GSTA is introduced to optimize the backstepping sliding mode controller to obtain a better control effect. Finally, the proposed control strategy is compared and simulated on the electro-hydraulic servo system. The experimental results verify that the proposed control strategy has better tracking performance. The effect of asymptotic tracking in the presence of parameter uncertainties and disturbances is achieved, while transient tracking performance and final tracking accuracy are guaranteed in the presence of time-varying uncertain nonlinearities.https://www.mdpi.com/2076-3417/13/8/4931electro-hydraulic servo systemsdisturbance observergeneralized super-twisting algorithmbackstepping sliding mode controller |
| spellingShingle | Qianyu Cao Xiaoyu Su Generalized Super-Twisting Backstepping Sliding Mode Control for Electro-Hydraulic Servo Systems Considering the Coexistence of Matched and Mismatched Uncertainties Applied Sciences electro-hydraulic servo systems disturbance observer generalized super-twisting algorithm backstepping sliding mode controller |
| title | Generalized Super-Twisting Backstepping Sliding Mode Control for Electro-Hydraulic Servo Systems Considering the Coexistence of Matched and Mismatched Uncertainties |
| title_full | Generalized Super-Twisting Backstepping Sliding Mode Control for Electro-Hydraulic Servo Systems Considering the Coexistence of Matched and Mismatched Uncertainties |
| title_fullStr | Generalized Super-Twisting Backstepping Sliding Mode Control for Electro-Hydraulic Servo Systems Considering the Coexistence of Matched and Mismatched Uncertainties |
| title_full_unstemmed | Generalized Super-Twisting Backstepping Sliding Mode Control for Electro-Hydraulic Servo Systems Considering the Coexistence of Matched and Mismatched Uncertainties |
| title_short | Generalized Super-Twisting Backstepping Sliding Mode Control for Electro-Hydraulic Servo Systems Considering the Coexistence of Matched and Mismatched Uncertainties |
| title_sort | generalized super twisting backstepping sliding mode control for electro hydraulic servo systems considering the coexistence of matched and mismatched uncertainties |
| topic | electro-hydraulic servo systems disturbance observer generalized super-twisting algorithm backstepping sliding mode controller |
| url | https://www.mdpi.com/2076-3417/13/8/4931 |
| work_keys_str_mv | AT qianyucao generalizedsupertwistingbacksteppingslidingmodecontrolforelectrohydraulicservosystemsconsideringthecoexistenceofmatchedandmismatcheduncertainties AT xiaoyusu generalizedsupertwistingbacksteppingslidingmodecontrolforelectrohydraulicservosystemsconsideringthecoexistenceofmatchedandmismatcheduncertainties |