华中科技大学学报（自然科学版）2026，Vol.54Issue(5)：38-45,8.DOI:10.13245/j.hust.252557
执行器故障下电液伺服系统固定时间容错控制
Fixed-time fault-tolerant control for electro-hydraulic servo system with actuator faults
摘要
Abstract
A fixed-time fault-tolerant control method was proposed for the piston rod position control of electro-hydraulic servo systems subjected to actuator faults and external disturbances,with the presence of parameter uncertainties.First,a reduced-order fixed-time extended state observer was designed based on the homogeneity theorem to estimate the system lumped uncertainty.The estimation error of this observer converged in fixed time,and the estimation accuracy could be improved by increasing the bandwidth.Then,a fixed-time fault-tolerant controller was developed by combining backstepping control technique,without requiring any information regarding the lumped uncertainty.Finally,verification was carried out on an experimental platform.Results show that the proposed method demonstrates strong fault-tolerant capability against actuator faults,ensuring high position control accuracy of the piston rod,and guaranteeing that the convergence time upper bound is independent of the initial system state.关键词
电液伺服系统/执行器故障/容错控制/降阶扩张状态观测器/固定时间收敛Key words
electro-hydraulic servo system/actuator fault/fault-tolerant control/reduced-order extended state observer/fixed-time convergence分类
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任兴,郭庆,李铁山,蒋丹..执行器故障下电液伺服系统固定时间容错控制[J].华中科技大学学报（自然科学版）,2026,54(5):38-45,8.基金项目
国家自然科学基金资助项目(52175046) （52175046）
四川省重点研发计划资助项目(2024YFFK0037) （2024YFFK0037）
中央引导地方科技发展专项资助项目(2024ZYD0165). （2024ZYD0165）
