Control of an Electric Actuator-Based Road Profile Simulator with Perturbation Estimation: Design and Experiment
پذیرفته شده برای ارائه شفاهی
کد مقاله : 1089-ISAV2025 (R1)
نویسندگان
1دانشکده مهندسی مکانیک، دانشگاه صنعتی سهند، تبریز، ایران
2استادیار، دانشکده مهندسی مکانیک، دانشگاه صنعتی سهند، تبریز، ایران
3دانشگاه صنعتی سهند
چکیده
This paper presents the design and practical implementation of an observer-based feedback linearization control strategy for a scaled road profile simulator driven by an electrical actua-tor. To achieve high-precision tracking of the desired road profile, a feedback linearization controller is developed. Recognizing that model uncertainties and external disturbances can degrade the control performance, an extended state observer (ESO) is employed to accurately estimate these lumped perturbations. Within this framework, the system perturbation is de-fined as an augmented state. The ESO then utilizes measurements from a linear potentiometer transducer (LPT) to simultaneously estimate both the system state and this perturbation, ena-bling real-time compensation. The stability of the proposed observer is rigorously proven us-ing Lyapunov stability theory. Comprehensive experimental results are presented, which not only demonstrate the method's excellent tracking performance and robustness but also explic-itly underscore the critical role of active perturbation compensation in significantly improving the overall system's dynamic response and accuracy.
کلیدواژه ها
Title
Control of an Electric Actuator-Based Road Profile Simulator with Perturbation Estimation: Design and Experiment
Authors
Ahmad Sabet ghadam Alvar, Sadra Rafatnia, Mehdi Mirzaei, Mohammadreza Zebardast Chavan
Abstract
This paper presents the design and practical implementation of an observer-based feedback linearization control strategy for a scaled road profile simulator driven by an electrical actua-tor. To achieve high-precision tracking of the desired road profile, a feedback linearization controller is developed. Recognizing that model uncertainties and external disturbances can degrade the control performance, an extended state observer (ESO) is employed to accurately estimate these lumped perturbations. Within this framework, the system perturbation is de-fined as an augmented state. The ESO then utilizes measurements from a linear potentiometer transducer (LPT) to simultaneously estimate both the system state and this perturbation, ena-bling real-time compensation. The stability of the proposed observer is rigorously proven us-ing Lyapunov stability theory. Comprehensive experimental results are presented, which not only demonstrate the method's excellent tracking performance and robustness but also explic-itly underscore the critical role of active perturbation compensation in significantly improving the overall system's dynamic response and accuracy.
Keywords
Extended state observer, State feedback control, Observer-based controller, Road simulator system