| Citation: | ZHANG Zhenyang, WANG Chengwen, GUO Xinping, et al. Backstepping sliding mode control of electro-hydraulic position servo system based on ESO[J]. Journal of Beijing University of Aeronautics and Astronautics, 2022, 48(6): 1082-1090. doi: 10.13700/j.bh.1001-5965.2020.0724(in Chinese)
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The backstepping sliding mode control method based on extended state observer (ESO) is proposed, which can solve the compound disturbance problem caused by unmodeled friction force, parameter uncertainty and external random disturbance. The ESO is designed to estimate the velocity and acceleration of actuator. The backstepping sliding mode controller is designed based on the displacement feedback signal and the estimated values of ESO. By constructing Lyapunov function including backstepping design error, sliding mode function and observer error, the stability of the proposed control method is proved. In order to verify the effectiveness of the proposed method, AMESim and MATLAB/Simulink co-simulation is carried out to compare with PID controller, traditional backstepping sliding mode controller and sliding mode controller based on ESO, and the simulation data is analyzed. The results show that the proposed method can effectively suppress the compound disturbance of the system, with higher precision and stronger robustness.
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