Output feedback domination approach for finite-time force control of an electrohydraulic actuator

摘要

Force control of a single-rod electrohydraulic actuator is investigated. The model considers the friction effect of the actuator. First, a non-linear force controller using a feedback domination approach, which can globally finite-time stabilise the force tracking error system without the friction parameter uncertainties, is proposed. Then, another feedback domination controller is proposed to cope with the friction parameter uncertainties. To estimate the unmeasurable states, an observer with finite-time convergence is developed. Rigorous stability analysis is given. Compared with the conventional output feedback backstepping control method, the proposed output feedback domination control scheme provides a faster convergence rate and a higher tracking accuracy for force tracking. Numerical simulation results demonstrate the effectiveness of the proposed control design.