This paper focuses on the design of an observer-based backstepping controller (BC) for a nonlinear hydraulic differential cylinder system. The system is affected by some uncertainties including modeling errors, external disturbances, and measurement noise. An observer-based control approach is proposed to assure suitable tracking performance and to increase robustness against unknown inputs. The task to estimate system states as well as unknown inputs is performed by a linear proportional-integral-observer (PIO). Input–output linearization is used to linearize the nonlinear system model to be used for the PIO structure. On the other hand, BC is utilized based on nonlinear system model to construct the Lyapunov function and to design the control input simultaneously. Stability or negativeness of the derivative of every-step Lyapunov function is fulfilled. Structural improvement regarding the combination of BC and PIO is the main aim of this contribution. This is supported by a novel stability proof and new conditions for the whole control loop with integrated PIO. Furthermore, parameter selection of BC is elaborately considered by defining a performance/energy criterion. A complete robustness evaluation considering different levels of additional measurement noise, modeling errors, and external disturbances is presented for the first time in this contribution. Experimental results validate the advantages of proposed observer-based approach compared to PIO-based sliding mode control (PIO-SMC) and industrial standard P-controller.
Skip Nav Destination
Article navigation
December 2018
Research-Article
Proportional-Integral-Observer-Based Backstepping Approach for Position Control of a Hydraulic Differential Cylinder System With Model Uncertainties and Disturbances
Fateme Bakhshande,
Fateme Bakhshande
Chair of Dynamics and Control,
University of Duisburg-Essen,
Duisburg 47057, NRW, Germany
e-mail: fateme.bakhshande@uni-due.de
University of Duisburg-Essen,
Duisburg 47057, NRW, Germany
e-mail: fateme.bakhshande@uni-due.de
Search for other works by this author on:
Dirk Söffker
Dirk Söffker
Professor
Chair of Dynamics and Control,
University of Duisburg-Essen,
Duisburg 47057, NRW, Germany
e-mail: soeffker@uni-due.de
Chair of Dynamics and Control,
University of Duisburg-Essen,
Duisburg 47057, NRW, Germany
e-mail: soeffker@uni-due.de
Search for other works by this author on:
Fateme Bakhshande
Chair of Dynamics and Control,
University of Duisburg-Essen,
Duisburg 47057, NRW, Germany
e-mail: fateme.bakhshande@uni-due.de
University of Duisburg-Essen,
Duisburg 47057, NRW, Germany
e-mail: fateme.bakhshande@uni-due.de
Dirk Söffker
Professor
Chair of Dynamics and Control,
University of Duisburg-Essen,
Duisburg 47057, NRW, Germany
e-mail: soeffker@uni-due.de
Chair of Dynamics and Control,
University of Duisburg-Essen,
Duisburg 47057, NRW, Germany
e-mail: soeffker@uni-due.de
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT,AND CONTROL. Manuscript received February 1, 2017; final manuscript received June 21, 2018; published online July 23, 2018. Assoc. Editor: Umesh Vaidya.
J. Dyn. Sys., Meas., Control. Dec 2018, 140(12): 121006 (10 pages)
Published Online: July 23, 2018
Article history
Received:
February 1, 2017
Revised:
June 21, 2018
Citation
Bakhshande, F., and Söffker, D. (July 23, 2018). "Proportional-Integral-Observer-Based Backstepping Approach for Position Control of a Hydraulic Differential Cylinder System With Model Uncertainties and Disturbances." ASME. J. Dyn. Sys., Meas., Control. December 2018; 140(12): 121006. https://doi.org/10.1115/1.4040662
Download citation file:
Get Email Alerts
An Adaptive Sliding-Mode Observer-Based Fuzzy PI Control Method for Temperature Control of Laser Soldering Process
J. Dyn. Sys., Meas., Control
Fault detection of automotive engine system based on Canonical Variate Analysis combined with Bhattacharyya Distance
J. Dyn. Sys., Meas., Control
Multi Combustor Turbine Engine Acceleration Process Control Law Design
J. Dyn. Sys., Meas., Control (July 2025)
Related Articles
Stochastic Finite-Time Stabilization for a Class of Nonlinear Markovian Jump Stochastic Systems With Impulsive Effects
J. Dyn. Sys., Meas., Control (April,2015)
Robust Control of Uncertain Nonlinear Systems: A Nonlinear DOBC Approach
J. Dyn. Sys., Meas., Control (July,2016)
Robust Output Regulation Via Sliding Mode Control and Disturbance Observer: Application in a Forced Van Der Pol Chaotic Oscillator
J. Dyn. Sys., Meas., Control (September,2017)
On Simple Design of Nonlinear Observers for Robust Stabilization of Nonlinear Systems
J. Dyn. Sys., Meas., Control (July,2015)
Related Proceedings Papers
Related Chapters
Fault-Tolerant Control of Sensors and Actuators Applied to Wind Energy Systems
Electrical and Mechanical Fault Diagnosis in Wind Energy Conversion Systems
Auto-Tuning Method of PIDA Controller Based Ongain Margin and Phase Margin
International Conference on Mechanical Engineering and Technology (ICMET-London 2011)
Logarithm Transformation of the Output Response Data for Optimization
Taguchi Methods: Benefits, Impacts, Mathematics, Statistics and Applications