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) tracking the leader motion. Firstly, each electro-hydraulic actuator (EHA) has a 3-order nonlinear dynamics with 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 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 3 EHAs under switching network topologies.
