Output feedback model predictive control of hydraulic systems with disturbances compensation.

Abstract Enhancing the robustness of output feedback control has always been an important issue in hydraulic servo systems. In this paper, an output feedback model predictive controller (MPC) with the integration of an extended state observer (ESO) is proposed for hydraulic systems. The ESO was designed to estimate not only the unmeasured system states but also the disturbances, which will be synthesized into the design of the output prediction equation. Based on the mechanism of receding horizon and repeating optimization of MPC, the output prediction equation will be updated in real time and the future behavior of the system will be accurately predicted since the disturbances are compensated effectively. Hence, the ability of the traditional MPC to suppress disturbances will be improved evidently. The experiment results show that the proposed controller has high-performance nature and strong robustness against various model uncertainties, which verifies the effectiveness of the proposed control strategy. Highlights • An output feedback model predictive controller is proposed for hydraulic actuators with active disturbance compensation. • Extended state observer and model predictive control are effectively integrated, for uncertain nonlinear hydraulic system model. • Theoretical analysis is given of the closed loop system. • Experimental verification is given for a hydraulic servo system. [ABSTRACT FROM AUTHOR]