Fuzzy impedance control of an electro-hydraulic actuator with an extended disturbance observer

Ming-jie LI; Jian-hua WEI; Jin-hui FANG; Wen-zhuo SHI; Kai GUO

doi:10.1631/FITEE.1800155

Your Location：

Home >

Browse articles >

Fuzzy impedance control of an electro-hydraulic actuator with an extended disturbance observer

Regular Papers | Updated：2022-05-19

- Fuzzy impedance control of an electro-hydraulic actuator with an extended disturbance observer
- 基于扩展干扰观测器的电液执行器的模糊阻抗控制
- Frontiers of Information Technology & Electronic Engineering Vol. 20, Issue 9, Pages: 1221-1233(2019)
- Affiliations：
  
  State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China
  MOE Key Laboratory of High Efficiency and Clean Mechanical Manufacture, Shandong University, Jinan 250061, China
- Author bio：
  
  Jin-hui FANG, E-mail: jhfang@zju.edu.cn
- Funds：
- DOI：10.1631/FITEE.1800155
  CLC： TP271.3
- Received：14 March 2018，
  
  Revised：2019-;9-;4，
  
  Published：2019-09
- Accepted：
Scan QR Code
Ming-jie LI, Jian-hua WEI, Jin-hui FANG, et al. Fuzzy impedance control of an electro-hydraulic actuator with an extended disturbance observer[J]. Frontiers of Information Technology & Electronic Engineering, 2019, 20(9): 1221-1233.
DOI：

Ming-jie LI, Jian-hua WEI, Jin-hui FANG, et al. Fuzzy impedance control of an electro-hydraulic actuator with an extended disturbance observer[J]. Frontiers of Information Technology & Electronic Engineering, 2019, 20(9): 1221-1233. DOI： 10.1631/FITEE.1800155.

摘要

在本文中，我们同时处理遭受外干扰及参数不确定影响的单出杆电液执行器的速度控制和力控制。在某些应用中，速度控制和力控制两者都有要求。阻抗控制和扩展干扰观测器的结合可以解决该问题。阻抗控制可调节执行器的速度和输出力之间的动态关系，有助于执行器与作用环境或者工件间避免冲击和保持合适的接触力。阻抗规则参数可由模糊算法调节。扩展干扰观测器被用于补偿外部干扰和参数不确定性，实现精确的速度跟踪。为扩展干扰器的开发，提出精确的负载力动力学模型。分析了系统稳定性。实验数据表明所提控制算法具有高精度速度跟踪性能，同时具有良好的力调节能力，在工程机械和装配中具有较大应用前景。

Abstract

In this paper

we deal with both velocity control and force control of a single-rod electro-hydraulic actuator subject to external disturbances and parameter uncertainties. In some implementations

both velocity control and force control are required. Impedance control and an extended disturbance observer are combined to solve this issue. Impedance control is applied to regulate the dynamic relationship between the velocity and output force of the actuator

which can help avoid impact and keep a proper contact force on the environment or workpieces. Parameters of impedance rules are regulated by a fuzzy algorithm. An extended disturbance observer is employed to account for external disturbances and parameter uncertainties to achieve an accurate velocity tracking. A detailed model of load force dynamics is presented for the development of the extended disturbance observer. The stability of the whole system is analyzed. Experimental results demonstrate that the proposed control strategy has not only a high velocity tracking performance

but also a good force adjustment performance

and that it should be widely applied in construction and assembly.

关键词

Keywords

references

KK Ahn , , , DNC Nam , , , ML Jin . . Adaptive backstepping control of an electrohydraulic actuator . . IEEE/ASME Trans Mech , , 2014 . . 19 ( ( 3 ): ): 987 - - 995 . . DOI: 10.1109/Tmech.2013.2265312 http://doi.org/10.1109/Tmech.2013.2265312 . .

WH Chen . . Disturbance observer based control for nonlinear systems . . IEEE/ASME Trans Mech , , 2004 . . 9 ( ( 4 ): ): 706 - - 710 . . DOI: 10.1109/Tmech.2004.839034 http://doi.org/10.1109/Tmech.2004.839034 . .

YY Chen , , , J Zhao , , , BD Wang , , , 等 . . High precision fuzzy impedance control of free-form surfaces polishing robotic arm based on position control . . Proc IEEE/ASME Int Conf on Advanced Intelligent Mechatronics , , 2005 . . p.819 - - 824 . . DOI: 10.1109/AIM.2005.1511084 http://doi.org/10.1109/AIM.2005.1511084 . .

Z Chen , , , B Yao , , , QF Wang . . Accurate motion control of linear motors with adaptive robust compensation of nonlinear electromagnetic field effect . . IEEE/ASME Trans Mech , , 2013 . . 18 ( ( 3 ): ): 1122 - - 1129 . . DOI: 10.1109/Tmech.2012.2197217 http://doi.org/10.1109/Tmech.2012.2197217 . .

RX Cui , , , LP Chen , , , CG Yang , , , 等 . . Extended state observer-based integral sliding mode control for an underwater robot with unknown disturbances and uncertain nonlinearities . . IEEE Trans Ind Electron , , 2017 . . 64 ( ( 8 ): ): 6785 - - 6795 . . DOI: 10.1109/Tie.2017.2694410 http://doi.org/10.1109/Tie.2017.2694410 . .

MM Fateh . . Robust impedance control of a hydraulic suspension system . . Int J Robust Nonl , , 2010 . . 20 ( ( 8 ): ): 858 - - 872 . . DOI: 10.1002/rnc.1473 http://doi.org/10.1002/rnc.1473 . .

MM Fateh , , , SS Alavi . . Impedance control of an active suspension system . . Mechatronics , , 2009 . . 19 ( ( 1 ): ): 134 - - 140 . . DOI: 10.1016/j.mechatronics.2008.05.005 http://doi.org/10.1016/j.mechatronics.2008.05.005 . .

B Friedland , , , YJ Park . . On adaptive friction compensation . . IEEE Trans Autom Contr , , 1992 . . 37 ( ( 10 ): ): 1609 - - 1612 . . DOI: 10.1109/9.256395 http://doi.org/10.1109/9.256395 . .

K Guo , , , JH Wei , , , JH Fang , , , 等 . . Position tracking control of electro-hydraulic single-rod actuator based on an extended disturbance observer . . Mechatronics , , 2015 . . 27 47 - - 56 . . DOI: 10.1016/j.mechatronics.2015.02.003 http://doi.org/10.1016/j.mechatronics.2015.02.003 . .

N Hogan . . Impedance control: an approach to manipulation: part Ⅰ—theory . . J Dynam Syst Meas Contr , , 1985a . . 107 ( ( 1 ): ): 1 - - 7 . . DOI: 10.1115/1.3140702 http://doi.org/10.1115/1.3140702 . .

N Hogan . . Impedance control: an approach to manipulation: part Ⅱ—implementation . . J Dynam Syst Meas Contr , , 1985b . . 107 ( ( 1 ): ): 8 - - 16 . . DOI: 10.1115/1.3140713 http://doi.org/10.1115/1.3140713 . .

N Hogan . . Impedance control: an approach to manipulation: part Ⅲ—applications . . J Dynam Syst Meas Contr , , 1985c . . 107 ( ( 1 ): ): 17 - - 24 . . DOI: 10.1115/1.3140701 http://doi.org/10.1115/1.3140701 . .

CS Kim , , , KS Hong , , , MK Kim . . Nonlinear robust control of a hydraulic elevator: experiment-based modeling and two-stage Lyapunov redesign . . Contr Eng Pract , , 2005 . . 13 ( ( 6 ): ): 789 - - 803 . . DOI: 10.1016/j.conengprac.2004.09.003 http://doi.org/10.1016/j.conengprac.2004.09.003 . .

W Kim , , , D Shin , , , D Won , , , 等 . . Disturbance-observer-based position tracking controller in the presence of biased sinusoidal disturbance for electrohydraulic actuators . . IEEE Trans Contr Syst Technol , , 2013 . . 21 ( ( 6 ): ): 2290 - - 2298 . . DOI: 10.1109/TCST.2013.2237909 http://doi.org/10.1109/TCST.2013.2237909 . .

SZ Li , , , JH Wei , , , K Guo , , , 等 . . Nonlinear robust prediction control of hybrid active-passive heave compensator with extended disturbance observer . . IEEE Trans Ind Electron , , 2017 . . 64 ( ( 8 ): ): 6684 - - 6694 . . DOI: 10.1109/Tie.2017.2698358 http://doi.org/10.1109/Tie.2017.2698358 . .

ZJ Li , , , JQ Liu , , , ZC Huang , , , 等 . . Adaptive impedance control of human-robot cooperation using reinforcement learning . . IEEE Trans Ind Electron , , 2017 . . 64 ( ( 10 ): ): 8013 - - 8022 . . DOI: 10.1109/Tie.2017.2694391 http://doi.org/10.1109/Tie.2017.2694391 . .

Y Lin , , , Y Shi , , , R Burton . . Modeling and robust discrete-time sliding-mode control design for a fluid power electrohydraulic actuator (EHA) system . . IEEE/ASME Trans Mech , , 2013 . . 18 ( ( 1 ): ): 1 - - 10 . . DOI: 10.1109/Tmech.2011.2160959 http://doi.org/10.1109/Tmech.2011.2160959 . .

HA Mintsa , , , R Venugopal , , , JP Kenne , , , 等 . . Feedback linearization-based position control of an electrohydraulic servo system with supply pressure uncertainty . . IEEE Trans Contr Syst Technol , , 2012 . . 20 ( ( 4 ): ): 1092 - - 1099 . . DOI: 10.1109/Tcst.2011.2158101 http://doi.org/10.1109/Tcst.2011.2158101 . .

Y Nam . . QFT force loop design for the aerodynamic load simulator . . IEEE Trans Aerosp Electron Syst , , 2001 . . 37 ( ( 4 ): ): 1384 - - 1392 . . DOI: 10.1109/7.976973 http://doi.org/10.1109/7.976973 . .

YJ Pi , , , XY Wang . . Observer-based cascade control of a 6-DOF parallel hydraulic manipulator in joint space coordinate . . Mechatronics , , 2010 . . 20 ( ( 6 ): ): 648 - - 655 . . DOI: 10.1016/j.mechatronics.2010.07.002 http://doi.org/10.1016/j.mechatronics.2010.07.002 . .

MH Raibert , , , JJ Craig . . Hybrid position/force control of manipulators . . J Dynam Syst Meas Contr , , 1981 . . 103 ( ( 2 ): ): 126 - - 133 . . DOI: 10.1115/1.3139652 http://doi.org/10.1115/1.3139652 . .

DH Sha , , , VB Bajic , , , HY Yang . . New model and sliding mode control of hydraulic elevator velocity tracking system . . Simul Pract Theory , , 2002 . . 9 ( ( 6-8 ): ): 365 - - 385 . . DOI: 10.1016/S1569-190x(02)00058-8 http://doi.org/10.1016/S1569-190x(02)00058-8 . .

M Shibata , , , T Murakami , , , K Ohnishi . . A unified approach to position and force control by fuzzy logic . . IEEE Trans Ind Electron , , 1996 . . 43 ( ( 1 ): ): 81 - - 87 . . DOI: 10.1109/41.481411 http://doi.org/10.1109/41.481411 . .

MR Sirouspour , , , SE Salcudean . . Nonlinear control of hydraulic robots . . IEEE Trans Rob Autom , , 2001 . . 17 ( ( 2 ): ): 173 - - 182 . . DOI: 10.1109/70.928562 http://doi.org/10.1109/70.928562 . .

JJE Slotine , , , W Li . . Applied Nonlinear Control . . Englewood Cliffs, New Jersey, Prentice Hall, USA , , 1991 . . .

QY Tian , , , JH Wei , , , JH Fang , , , 等 . . Adaptive fuzzy integral sliding mode velocity control for the cutting system of a trench cutter . . Front Inform Technol Electron Eng , , 2016 . . 17 ( ( 1 ): ): 55 - - 66 . . DOI: 10.1631/FITEE.15a0160 http://doi.org/10.1631/FITEE.15a0160 . .

DQ Truong , , , KK Ahn . . Force control for hydraulic load simulator using self-tuning grey predictor–fuzzy PID . . Mechatronics , , 2009 . . 19 ( ( 2 ): ): 233 - - 246 . . DOI: 10.1016/j.mechatronics.2008.07.007 http://doi.org/10.1016/j.mechatronics.2008.07.007 . .

JH Wei , , , Q Zhang , , , MJ Li , , , 等 . . High-performance motion control of the hydraulic press based on an extended fuzzy disturbance observer . . Proc Inst Mech Eng Part I—J Syst Contr Eng , , 2016 . . 230 ( ( 9 ): ): 1044 - - 1061 . . DOI: 10.1177/0959651816662562 http://doi.org/10.1177/0959651816662562 . .

GZ Xu , , , AG Song , , , HJ Li . . Adaptive impedance control for upper-limb rehabilitation robot using evolutionary dynamic recurrent fuzzy neural network . . J Intell Robot Syst , , 2011 . . 62 ( ( 3-4 ): ): 501 - - 525 . . DOI: 10.1007/s10846-010-9462-3 http://doi.org/10.1007/s10846-010-9462-3 . .

QS Xu . . Robust impedance control of a compliant microgripper for high-speed position/force regulation . . IEEE Trans Ind Electron , , 2015 . . 62 ( ( 2 ): ): 1201 - - 1209 . . DOI: 10.1109/TIE.2014.2352605 http://doi.org/10.1109/TIE.2014.2352605 . .

HY Yang , , , H Shi , , , GF Gong , , , 等 . . Electro-hydraulic proportional control of thrust system for shield tunneling machine . . Autom Constr , , 2009 . . 18 ( ( 7 ): ): 950 - - 956 . . DOI: 10.1016/j.autcon.2009.04.005 http://doi.org/10.1016/j.autcon.2009.04.005 . .

B Yao , , , M Tomizuka . . Adaptive robust control of SISO nonlinear systems in a semi-strict feedback form . . Automatica , , 1997 . . 33 ( ( 5 ): ): 893 - - 900 . . DOI: 10.1016/S0005-1098(96)00222-1 http://doi.org/10.1016/S0005-1098(96)00222-1 . .

B Yao , , , FP Bu , , , J Reedy , , , 等 . . Adaptive robust motion control of single-rod hydraulic actuators: theory and experiments . . IEEE/ASME Trans Mech , , 2000 . . 5 ( ( 1 ): ): 79 - - 91 . . DOI: 10.1109/3516.828592 http://doi.org/10.1109/3516.828592 . .

L Yu , , , SM Fei , , , J Huang , , , 等 . . Sliding mode switching control under arbitrary switchings in the presence of uncertain parameters . . Proc Inst Mech Eng Part I—J Syst Contr Eng , , 2017 . . 232 ( ( 4 ): ): 399 - - 407 . . DOI: 10.1177/0959651817709187 http://doi.org/10.1177/0959651817709187 . .

LB Zhang , , , ZJ Li , , , CG Yang . . Adaptive neural network based variable stiffness control of uncertain robotic systems using disturbance observer . . IEEE Trans Ind Electron , , 2017 . . 64 ( ( 3 ): ): 2236 - - 2245 . . DOI: 10.1109/Tie.2016.2624260 http://doi.org/10.1109/Tie.2016.2624260 . .

Q Zhang , , , JH Fang , , , JH Wei , , , 等 . . Adaptive robust motion control of a fast forging hydraulic press considering the nonlinear uncertain accumulator model . . Proc Inst Mech Eng Part I—J Syst Contr Eng , , 2016 . . 230 ( ( 6 ): ): 483 - - 497 . . DOI: 10.1177/0959651816628994 http://doi.org/10.1177/0959651816628994 . .

WH Zhu , , , JC Piedboeuf . . Adaptive output force tracking control of hydraulic cylinders with applications to robot manipulators . . J Dynam Syst Meas Contr , , 2005 . . 127 ( ( 2 ): ): 206 - - 217 . . DOI: 10.1115/1.1898237 http://doi.org/10.1115/1.1898237 . .

Views

Downloads

CSCD

Alert me when the article has been cited

Submit

Tools

Publicity Resources

Adaptive tracking control of high-order MIMO nonlinear systems with prescribed performance

Decentralized fault-tolerant cooperative control of multiple UAVs with prescribed attitude synchronization tracking performance under directed communication topology

Disturbance rejection via iterative learning control with a disturbance observer for active magnetic bearing systems

Related Author

Xuerao WANG

Qingling WANG

Changyin SUN

Zi-quan YU

Zhi-xiang LIU

You-min ZHANG

Yao-hong QU

Chun-yi SU

Related Institution

School of Automation, Southeast University

Key Laboratory of Measurement and Control of Complex Systems of Engineering, Ministry of Education, Southeast University

School of Automation, Northwestern Polytechnical University

Department of Mechanical, Industrial and Aerospace Engineering, Concordia University,QC

College of Automation Engineering, Nanjing University of Aeronautics and Astronautics

Chat

Address：Zhejiang University Press, 148 Tianmushan Road, Hangzhou, China Postal code：310028
Tel：+86-571-88273162 Email：fitee@zju.edu.cn
It is recommended to read the content of this site in Chrome&IE9+. Please switch to extreme mode in browser 360.
Cookies We use cookies to help provide and enhance our service and tailor content. By continuing, you agree to the use of cookies.

⁰