Position Control of Electro-hydraulic Proportional Valve Based on State Observation and Obstacle Lyapunov Function

doi:10.3901/JME.260506

Abstract

Abstract: Aiming at the nonlinearities such as friction and hydrodynamic forces that exist in the electro-hydraulic proportional valve system with a two-stage structure of pilot-main stage, which degrade the internal state stability of the system and the spool position tracking performance of the main stage, an adaptive output-feedback prescribed performance controller incorporating a state observer and a Barrier Lyapunov function(BLF) is proposed. First, feed-forward compensation and unknown state prediction of matching and mismatching perturbations existing in the main stage are realized based on the Linear expansion state observer(LESO) and Nonlinear disturbance observer(NDO), and then, the information obtained above is incorporated into a hyperbolic cosine-type Barrier Lyapunov function(BLF) controller designed by using the inverse step method, which maintains all the states within the predetermined by constraining the upper limit of the control errors. range and converging the output tracking error to a predetermined boundary in a finite time, the stability of the closed-loop system is analyzed by using the Lyapunov theory, and finally, the superiority of the proposed controller is verified by comparative experiments.

Key words: electro-hydraulic proportional valve, barrier function, expansion state observer, backstepping control

CLC Number:

TG156

CHEN Junxiang, JIANG Xinhang, AI Chao, CUI Bentao, KONG Xiangdong. Position Control of Electro-hydraulic Proportional Valve Based on State Observation and Obstacle Lyapunov Function[J]. Journal of Mechanical Engineering, 2026, 62(10): 389-403.

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