An Output Feedback Prescribed Performance Tracking Control of an Electro-Hydrostatic Actuator

다국어 초록 (Multilingual Abstract)

This paper aims to develop output feedback prescribed performance tracking control of an electro-hydrostatic system subject to model errors and unknown disturbances. Firstly, a canonical state-space representation of the studied hydraulic system is theoretically obtained, in which the influences of uncertainties and disturbances are grouped into a term, the so-called lumped disturbance. A linear extended state observer (LESO) is adopted to not only estimate immeasurable velocity and acceleration of the actuator but also effectively suppress adverse effects of model uncertainties and external disturbances in a feedforward compensation fashion. Subsequently, to guarantee a desired transient response and tracking accuracy, prescribed performance control technique is integrated into the control design process. Finally, the advantage of the proposed approach is verified through comparative experiment results on a real test bench.