Leader-Following Synchronization Control of Multiple Electrohydraulic Actuators Under Switching Network Topologies

Abstract

A leader-following quasi-synchronization control is proposed in multiple electrohydraulic actuators (MEHAs) under different switching network topologies to guarantee the follower electrohydraulic actuators (EHAs) track the leader motion. Firstly, each EHA has a three order nonlinear dynamics with an unknown external load. Then by using Lie derivative technique, the MEHAs nonlinear models with n + 1 nodes are feedback linearized for convenient control design. Furthermore, the leader node is constructed as a virtual simulation model to be stabilized by PI controller. Meanwhile, a quasi-synchronized controller together with a disturbance observer is designed by linear matrix inequality (LMI) and Lyapunov techniques to guarantee that the synchronization errors between the n follower nodes and the leader node 0 are uniformly ultimate boundaries. Finally, the effectiveness of the leader-following quasi-synchronized controller is verified by a MEHAs experimental bench with three EHAs under switching network topologies.