Control of an Electric Actuator-Based Road Profile Simulator with Perturbation Estimation: Design and Experiment

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 actuator. 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 defined 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, enabling real-time compensation. The stability of the proposed observer is rigorously proven using Lyapunov stability theory. Comprehensive experimental results are presented, which not only demonstrate the method's excellent tracking performance and robustness but also explicitly underscore the critical role of active perturbation compensation in significantly improving the overall system's dynamic response and accuracy.

کلیدواژه ها:

Extended state observer ، State feedback control ، Observer-based controller ، Road simulator system