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首页> 外文期刊>Mechanical systems and signal processing >A novel adaptive-gain technique for high-order sliding-mode observers with application to electro-hydraulic systems
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A novel adaptive-gain technique for high-order sliding-mode observers with application to electro-hydraulic systems

机译：一种新型自适应增益技术，适用于高阶滑模观测器，用于电动液压系统

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摘要

In this paper, a novel technique for adaptive gain selection in high-order sliding mode observers to estimate the state and the disturbance acting on a hydraulic actuators is designed and tested. The proposed gain adaptation technique is based on the evaluation of the absolute value of the errors computed between the real measurements available on the system and their estimation provided by the observer. Experimental results are reported to validate the effectiveness of the proposed technique in a real context. The experiment are conducted in two different conditions, i.e. without external load and with an unknown visco-elastic seismic isolator attached to the hydraulic actuator. The proposed gain-adaptation method is also compared with the case of manually-tuned gains and a classic gain adaptation technique reported in literature, in which the gain adaptation is based on fixed variation rates. The proposed method provides performance comparable or superior to both manual and classic adaptive gain selection. Moreover, with respect to classic techniques, the proposed one has the advantage of improving the convergence rate in case of large estimation errors and limiting the growing of observer gains in case of noisy measurements.
机译：在本文中，设计并测试了一种用于估计在液压致动器上的状态和扰动的高阶滑模观测器中的自适应增益选择的新技术。所提升的增益适应技术基于对系统上可用的真实测量之间计算的误差的绝对值的评估及其观察者提供的估计。据报道，实验结果验证了在真实背景下验证了所提出的技术的有效性。实验在两个不同的条件下进行，即没有外部载荷，并且附着到液压执行器上的未知的粘弹性地震隔离器。还将所提出的增益适应方法与手动调谐的增益和文献中报告的经典增益适应技术进行比较，其中增益适应基于固定变化率。所提出的方法提供性能可比或优于手动和经典的自适应增益选择。此外，关于经典技术，所提出的技术的优点是在大估计误差的情况下提高收敛速率并限制在噪声测量的情况下的观察者增益的增长。

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