High dynamic output feedback robust control of cascaded extended state observer  

作　　者：Wenxiang DENG Jianyong YAO Zongxia JIAO Xiaochao LIU 

机构地区：[1]School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing 210094,China [2]the State Key Laboratory of Fluid Power and Mechatronic Systems,Zhejiang University,Hangzhou 310027,China [3]School of Automation Science and Electrical Engineering,Beihang University,Beijing 100191,China

出　　处：《Chinese Journal of Aeronautics》2022年第7期300-309,共10页中国航空学报（英文版）

基　　金：supported in part by the National Natural Science Foundation of China under Grant 51905271,Grant 52075262;in part by the Natural Science Foundation of Jiangsu Province under Grant BK20190459;in part by the Fundamental Research Funds for the Central Universities under Grant 30920041101;in part by the Open Foundation of the State Key Laboratory of Fluid Power and Mechatronic Systems under Grant GZKF-201910。

摘　　要：High dynamic tracking performance is a key technical index of hydraulic flight motion simulator(HFMS).However,the strong nonlinearities,various model uncertainties and measurement noise in hydraulic actuation systems limit the high dynamic performance improvement.In this paper,the outer axis frame of a HFMS is taken as a case study and its nonlinear dynamic model with consideration of strong nonlinearities,matched and mismatched uncertainties is established.A novel cascaded extended state observer(ESO)is proposed to estimate the unavailable system states to avoid the adverse effect of measurement noise on control performance.Meanwhile,the designed cascaded ESO also produces estimates of matched and mismatched uncertainties.Then,an output feedback robust controller(OFRC)is proposed by integrating the cascaded ESO with a robust integral of the sign of the error(RISE)feedback based on the backstepping framework.The proposed controller achieves compensation of both matched and mismatched model uncertainties in an output feedback form.Theoretical analysis indicates that the proposed OFRC ensures the boundedness of all closed-loop system signals in the presence of matched and mismatched timevarying model uncertainties.Excellent asymptotic tracking performance can also be obtained when the model uncertainties are time-invariant.Comparative experimental results show that the proposed OFRC achieves significant performance improvement compared with the extensively employed PI control with velocity feedforward(VFPI).

关 键 词：Flight motion simulator High dynamic tracking Hydraulic actuator OBSERVER Output feedback Robust control 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计] V448