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http://dx.doi.org/10.5370/KIEE.2015.64.2.297

Disturbance Observer based Feedback Linearization Control for Electro-Hydraulic Servo Systems  

Won, Daehee (Dept. of Electrical Engineering, Hanyang Univ., Korea and Human and Culture Convergence Technology R&BD Group, Korea Institute of Industrial Technology (KITECH))
Kim, Wonhee (Dept. of Electrical Engineering, Dong-A Univ.)
Chung, Chung Choo (Div. of Electrical and Biomedical Engineering, Hanyang Univ.)
Publication Information
The Transactions of The Korean Institute of Electrical Engineers / v.64, no.2, 2015 , pp. 297-303 More about this Journal
Abstract
We propose a disturbance observer(DOB) based feedback linearization control to improve position tracking performance in the presence of disturbance. The proposed method consists of a disturbance observer and a feedback linearization controller. The disturbance observer is designed to estimate the load force disturbance in electro-hydraulic systems. An auxiliary state variable is proposed in order to avoid amplification of the measurement noises in the disturbance observer. Using the estimated disturbance enables the Electro-hydraulic servo systems(EHS) dynamics to be changed into feedback linearization from. In order to compensate for the disturbance and to track the desired position, the feedback linearization based controller is proposed. The proposed method has a simple structure which can easily be implemented in practice. As a result, the proposed method improves the position tracking performance in the presence of disturbance. Its performance is validated via simulations.
Keywords
Electro-hydraulic servo systems; Disturbance observer; Feedback linearization;
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