ESO Based MPC Design and Experiment Investigation for a Fin Stabilizer Electro-Hydraulic Servo System

In the present study, an extended state observer-based model predictive controller was designed to enhance the response rate and disturbance rejection of the fin electro-hydraulic servo system without overshoot and extend the application of fin stabilizer at zero speed. To this end, a tracking differentiator was employed to implement the command plan of the fin servo system to limit the overshoot. Moreover, an extended states observer was used to estimate the external disturbance, uncertainty and nonlinearity in the electro-hydraulic servo system. Then, the estimated lumped disturbance was compensated directly in the control command generated by the model predictive control. Accordingly, the response speed and disturbance rejection were designed through the objective function in the predictive control model. Then an electro-hydraulic servo system of a fin stabilizer was studied to evaluate the performance of the proposed control strategy. The experimental results revealed that the proposed controller improved the response speed and disturbance rejection capacity of electro-hydraulic servo system of fin. The improved control strategy can adapt well to the requirements of zero-speed fin stabilizer.