Regular Papers

International Journal of Control, Automation and Systems 2023; 21(1): 208-220

Published online January 6, 2023

https://doi.org/10.1007/s12555-021-0839-9

© The International Journal of Control, Automation, and Systems

Prescribed Performance Dynamic Surface Control of Hydraulic-driven Barrel Servo System with Disturbance Compensation

Yukai Wei, Linfang Qian, Qiang Yin*, and Quan Zou

Nanjing University of Science and Technology

Abstract

This research focuses on the position tracking control of the rotating barrel of large caliber artillery. Based on a nonlinear state-space model of the hydraulic-driven barrel servo system (HDBSS) with extensive nonlinearities and uncertainties, a disturbance observer-based prescribed performance dynamic surface controller is proposed. The disturbance observer simultaneously estimates the mismatched and matched disturbances. The prescribed performance constraints predetermine the boundary of the output error. Inspired by the barrier Lyapunov function (BLF), conversion from the original constrained system into an an equivalent error-constrained system’ is realized via a novel error transformation function, which efficiently avoids the calculation of the logarithmic part of the traditional prescribed performance controller. Furthermore, dynamic surface technology is applied in the last step of backstepping controller design to avoid the complexity of differential explosion. The stability and convergence of the closed-loop system are theoretically proven. The effectiveness of the proposed controller is verified by extensive comparative experimental results.

Keywords Barrier Lyapunov function, disturbance observer, dynamic surface control, hydraulic-driven barrel servo system, prescribed performance constraints.

Article

Regular Papers

International Journal of Control, Automation and Systems 2023; 21(1): 208-220

Published online January 1, 2023 https://doi.org/10.1007/s12555-021-0839-9

Copyright © The International Journal of Control, Automation, and Systems.

Prescribed Performance Dynamic Surface Control of Hydraulic-driven Barrel Servo System with Disturbance Compensation

Yukai Wei, Linfang Qian, Qiang Yin*, and Quan Zou

Nanjing University of Science and Technology

Abstract

This research focuses on the position tracking control of the rotating barrel of large caliber artillery. Based on a nonlinear state-space model of the hydraulic-driven barrel servo system (HDBSS) with extensive nonlinearities and uncertainties, a disturbance observer-based prescribed performance dynamic surface controller is proposed. The disturbance observer simultaneously estimates the mismatched and matched disturbances. The prescribed performance constraints predetermine the boundary of the output error. Inspired by the barrier Lyapunov function (BLF), conversion from the original constrained system into an an equivalent error-constrained system’ is realized via a novel error transformation function, which efficiently avoids the calculation of the logarithmic part of the traditional prescribed performance controller. Furthermore, dynamic surface technology is applied in the last step of backstepping controller design to avoid the complexity of differential explosion. The stability and convergence of the closed-loop system are theoretically proven. The effectiveness of the proposed controller is verified by extensive comparative experimental results.

Keywords: Barrier Lyapunov function, disturbance observer, dynamic surface control, hydraulic-driven barrel servo system, prescribed performance constraints.

IJCAS
May 2024

Vol. 22, No. 5, pp. 1461~1759

Stats or Metrics

Share this article on

  • line

Related articles in IJCAS

IJCAS

eISSN 2005-4092
pISSN 1598-6446