电静液作动器自调节积分鲁棒运动控制

针对电静液作动器系统中存在的匹配干扰及不匹配干扰，基于扩张状态观测器，设计了一种自调节积分鲁棒控制方法。首先设计扩张状态观测器估计系统的匹配不确定性并且进行前馈补偿；然后设计自调节积分鲁棒控制器分别处理系统的不匹配干扰和状态估计误差，实现了电静液作动器的渐近跟踪控制；最后通过仿真验证了该控制方案的有效性。结果表明：相较于传统的PID控制器，该控制器的跟踪误差约为0.2mm，控制精度达到0.4%左右。

ARISE-Based Motion Control of Electro-Hydrostatic Actuator

Aiming at the matched and mismatched disturbances in electro-hydrostatic actuator (EHA) system, an adjustable robust integral of the sign of the error (ARISE) control strategy with extended state observer (ESO) is proposed. First of all, ESO is used to estimate the matched uncertainties and perform feedforward compensation. Then the ARISE controller is designed to suppress the mismatched uncertainties and state estimation error, which realizes the asymptotic tracking control of the electro-hydrostatic actuator. The control strategy of the hydraulic system model of EHA was simulated and verified by MATLAB. The results show that compared with the traditional PID controller, the tracking error of this controller is about 0.2mm, and the control strategy can keep the tracking accuracy around 0.4%.