Extended state observer based output feedback control of 2 DoF electro hydraulic servo system
Positioning a load in a two-dimensional subspace requires a two-degrees-of-freedom (2 DoF) position control system. The precise positioning of the load has been the driving motivation for electro-hydraulic actuation and its robust control. 2 DoF electro-hydraulic servo system (EHSS) is complex and n...
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Elsevier
2025-09-01
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| Series: | Results in Control and Optimization |
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| Online Access: | http://www.sciencedirect.com/science/article/pii/S2666720725000748 |
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| author | Ashpana Shiralkar Shailaja Kurode Bhagyashri Tamhane |
| author_facet | Ashpana Shiralkar Shailaja Kurode Bhagyashri Tamhane |
| author_sort | Ashpana Shiralkar |
| collection | DOAJ |
| description | Positioning a load in a two-dimensional subspace requires a two-degrees-of-freedom (2 DoF) position control system. The precise positioning of the load has been the driving motivation for electro-hydraulic actuation and its robust control. 2 DoF electro-hydraulic servo system (EHSS) is complex and nonlinear. Each of the 2 DoF is approximated by the second order model with uncertainty. A new sliding variable is proposed for precise finite-time positioning of a load. The extended state observer based controller is devised using higher-order sliding modes. Uncertainties and states are estimated to implement the controller in a finite time. The method is verified in both simulation and experiment. It is shown that the proposed method yield robust and precise positioning of load in two-dimensional subspace. |
| format | Article |
| id | doaj-art-d986290824714d098d9d4da5c0ea7c0d |
| institution | Kabale University |
| issn | 2666-7207 |
| language | English |
| publishDate | 2025-09-01 |
| publisher | Elsevier |
| record_format | Article |
| series | Results in Control and Optimization |
| spelling | doaj-art-d986290824714d098d9d4da5c0ea7c0d2025-08-20T03:32:24ZengElsevierResults in Control and Optimization2666-72072025-09-012010058810.1016/j.rico.2025.100588Extended state observer based output feedback control of 2 DoF electro hydraulic servo systemAshpana Shiralkar0Shailaja Kurode1Bhagyashri Tamhane2Department of Electrical Engineering, AISSMS Institute of Information Technology, Near RTO, Pune, 411014, MH, India; Corresponding author.Director, Yasheeka Training & Research Center (YTRC), Pune, MH, IndiaResearch Fellow, IIT, Bombay, MH, IndiaPositioning a load in a two-dimensional subspace requires a two-degrees-of-freedom (2 DoF) position control system. The precise positioning of the load has been the driving motivation for electro-hydraulic actuation and its robust control. 2 DoF electro-hydraulic servo system (EHSS) is complex and nonlinear. Each of the 2 DoF is approximated by the second order model with uncertainty. A new sliding variable is proposed for precise finite-time positioning of a load. The extended state observer based controller is devised using higher-order sliding modes. Uncertainties and states are estimated to implement the controller in a finite time. The method is verified in both simulation and experiment. It is shown that the proposed method yield robust and precise positioning of load in two-dimensional subspace.http://www.sciencedirect.com/science/article/pii/S2666720725000748Electro hydraulic servo system (EHSS)Two degree of freedom (2 DoF)Robust control |
| spellingShingle | Ashpana Shiralkar Shailaja Kurode Bhagyashri Tamhane Extended state observer based output feedback control of 2 DoF electro hydraulic servo system Results in Control and Optimization Electro hydraulic servo system (EHSS) Two degree of freedom (2 DoF) Robust control |
| title | Extended state observer based output feedback control of 2 DoF electro hydraulic servo system |
| title_full | Extended state observer based output feedback control of 2 DoF electro hydraulic servo system |
| title_fullStr | Extended state observer based output feedback control of 2 DoF electro hydraulic servo system |
| title_full_unstemmed | Extended state observer based output feedback control of 2 DoF electro hydraulic servo system |
| title_short | Extended state observer based output feedback control of 2 DoF electro hydraulic servo system |
| title_sort | extended state observer based output feedback control of 2 dof electro hydraulic servo system |
| topic | Electro hydraulic servo system (EHSS) Two degree of freedom (2 DoF) Robust control |
| url | http://www.sciencedirect.com/science/article/pii/S2666720725000748 |
| work_keys_str_mv | AT ashpanashiralkar extendedstateobserverbasedoutputfeedbackcontrolof2dofelectrohydraulicservosystem AT shailajakurode extendedstateobserverbasedoutputfeedbackcontrolof2dofelectrohydraulicservosystem AT bhagyashritamhane extendedstateobserverbasedoutputfeedbackcontrolof2dofelectrohydraulicservosystem |