{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,15]],"date-time":"2026-04-15T18:25:24Z","timestamp":1776277524866,"version":"3.50.1"},"reference-count":37,"publisher":"MDPI AG","issue":"21","license":[{"start":{"date-parts":[[2020,10,28]],"date-time":"2020-10-28T00:00:00Z","timestamp":1603843200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"the National Key Research and Development Program of China","award":["2016YFC0802902"],"award-info":[{"award-number":["2016YFC0802902"]}]},{"name":"Innovative Research Assistant Project for Graduate Students of Yanshan University","award":["CXZS202003"],"award-info":[{"award-number":["CXZS202003"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>In this paper, an integrated control strategy of position synchronization control for dual-electro-hydraulic actuators with unknown dead-zones is proposed. The unified control scheme consists of two parts: One is adaptive dead-zone inverse controllers of each hydraulic actuator to offset the unknown dead-zones. The other is the linear active disturbance rejection controller (LADRC) for position synchronization error. First, the model of the electro-hydraulic proportional position control system (EPPS) was identified by the forgetting factor recursive least square (FFRLS) algorithm. Next, the model reference dead-zone inverse adaptive controller (MRDIAC) was developed to compensate for the delay of actuator response caused by unknown proportional valve dead-zones. Meanwhile, the validity of the adaptive law was proven by the Lyapunov theory. Therefore, the position control accuracy of each hydraulic actuator is guaranteed. Besides, to improve the precision of position synchronization control of dual-hydraulic actuators, a simple and elegant synchronous error-based LADRC was adopted, which applies the total disturbances design concept to eliminate and compensate for motion coupling rather than cross-coupling technology. The performance of the proposed control solution was investigated through extensive comparative experiments based on a hydraulic test platform. The experimental results successfully demonstrate the effectiveness and practicality of the proposed method.<\/jats:p>","DOI":"10.3390\/s20216124","type":"journal-article","created":{"date-parts":[[2020,10,29]],"date-time":"2020-10-29T21:21:00Z","timestamp":1604006460000},"page":"6124","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":14,"title":["Active Disturbance Rejection Position Synchronous Control of Dual-Hydraulic Actuators with Unknown Dead-Zones"],"prefix":"10.3390","volume":"20","author":[{"given":"Lixin","family":"Wang","sequence":"first","affiliation":[{"name":"School of Mechanical Engineering, Yanshan University, Qinhuangdao 066004, China"},{"name":"Key Laboratory of Special Carrier Equipment of Hebei province, Yanshan University, Qinhuangdao 066004, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Dingxuan","family":"Zhao","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Yanshan University, Qinhuangdao 066004, China"},{"name":"Key Laboratory of Special Carrier Equipment of Hebei province, Yanshan University, Qinhuangdao 066004, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Fucai","family":"Liu","sequence":"additional","affiliation":[{"name":"School of Electrical Engineering, Yanshan University, Qinhuangdao 066004, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0725-2572","authenticated-orcid":false,"given":"Qian","family":"Liu","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Yanshan University, Qinhuangdao 066004, China"},{"name":"Key Laboratory of Special Carrier Equipment of Hebei province, Yanshan University, Qinhuangdao 066004, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhuxin","family":"Zhang","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Yanshan University, Qinhuangdao 066004, China"},{"name":"Key Laboratory of Special Carrier Equipment of Hebei province, Yanshan University, Qinhuangdao 066004, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2020,10,28]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"2695","DOI":"10.1109\/TMECH.2017.2764110","article-title":"High-gain-observer-based integral sliding mode control for position tracking of electrohydraulic servo systems","volume":"22","author":"Won","year":"2017","journal-title":"IEEE ASME Trans. Mechatron."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"22","DOI":"10.1016\/j.conengprac.2017.01.013","article-title":"Proportional electro-hydraulic valves: An embedded model control solution","volume":"62","author":"Canuto","year":"2017","journal-title":"Control Eng. Pract."},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"228","DOI":"10.1016\/j.isatra.2019.02.022","article-title":"Parameters identification and trajectory control for a hydraulic system","volume":"92","author":"Feng","year":"2019","journal-title":"ISA Trans."},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"950","DOI":"10.1016\/j.autcon.2009.04.005","article-title":"Electro-hydraulic proportional control of thrust system for shield tunneling machine","volume":"18","author":"Yang","year":"2009","journal-title":"Autom. Constr."},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"367","DOI":"10.1016\/S0967-0661(01)00003-X","article-title":"Electro-hydraulic proportional control of twin-cylinder hydraulic elevators","volume":"9","author":"Li","year":"2001","journal-title":"Control Eng. Pract."},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"212","DOI":"10.3103\/S1068798X18030206","article-title":"Synchronous hydromechanical drive of a mobile machine","volume":"38","author":"Rybak","year":"2018","journal-title":"Russ. Eng. Res."},{"key":"ref_7","doi-asserted-by":"crossref","unstructured":"Shang, Y., Bai, N., Jiao, L., Yao, N., Wu, S., and Jiao, Z. (2018). Motion synchronous composite decoupling with fewer sensors on multichannel hydraulic force control for aircraft structural loading test system. Sensors, 18.","DOI":"10.3390\/s18114050"},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"1383","DOI":"10.1109\/TMECH.2018.2834936","article-title":"Decoupling compensation for damping improvement of the electrohydraulic control system with multiple actuators","volume":"23","author":"Cheng","year":"2018","journal-title":"IEEE ASME Trans. Mechatron."},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"110","DOI":"10.1016\/j.mechatronics.2018.07.011","article-title":"Iterative learning based output feedback control for electro-hydraulic loading system of a gait simulator","volume":"54","author":"Guo","year":"2018","journal-title":"Mechatronics"},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"393","DOI":"10.1016\/j.isatra.2016.10.012","article-title":"Analysis and compensation for the cascade dead-zones in the proportional control valve","volume":"66","author":"Xu","year":"2017","journal-title":"ISA Trans."},{"key":"ref_11","doi-asserted-by":"crossref","first-page":"167","DOI":"10.1016\/j.mechatronics.2016.10.002","article-title":"Development of electro-hydraulic proportion control system of track-laying machinery for high speed railway construction","volume":"40","author":"Li","year":"2016","journal-title":"Mechatronics"},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"171","DOI":"10.1109\/TMECH.2002.1011254","article-title":"Motion synchronization for dual-cylinder electro-hydraulic lift systems","volume":"7","author":"Sun","year":"2002","journal-title":"IEEE ASME Trans. Mechatron."},{"key":"ref_13","doi-asserted-by":"crossref","first-page":"129","DOI":"10.1016\/j.mechatronics.2007.10.009","article-title":"Precise position synchronous control of multi-axis servo system","volume":"18","author":"Jeong","year":"2008","journal-title":"Mechatronics"},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"30548","DOI":"10.1109\/ACCESS.2019.2894134","article-title":"Dynamic decoupling based robust synchronous control for a hydraulic parallel manipulator","volume":"7","author":"Zhao","year":"2019","journal-title":"IEEE Access"},{"key":"ref_15","doi-asserted-by":"crossref","first-page":"3707","DOI":"10.1109\/TIE.2017.2652343","article-title":"Precise position synchronous control for multi-axis servo systems","volume":"64","author":"Zhong","year":"2017","journal-title":"IEEE Trans. Ind. Electron."},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"4544","DOI":"10.1109\/TIE.2018.2864512","article-title":"Synchronization control in the cable space for cable-driven parallel robots","volume":"66","author":"Shang","year":"2018","journal-title":"IEEE Trans. Ind. Electron."},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"658","DOI":"10.1016\/j.conengprac.2007.08.005","article-title":"Fuzzy controller design for synchronous motion in a dual-cylinder electro-hydraulic system","volume":"16","author":"Chen","year":"2008","journal-title":"Control Eng. Pract."},{"key":"ref_18","doi-asserted-by":"crossref","unstructured":"Xu, X., Bai, Z., and Shao, Y. (2019). Synchronization Control Algorithm of Double-Cylinder Forging Hydraulic Press Based on Fuzzy Neural Network. Algorithms, 12.","DOI":"10.3390\/a12030063"},{"key":"ref_19","doi-asserted-by":"crossref","first-page":"102254","DOI":"10.1016\/j.mechatronics.2019.102254","article-title":"Bidirectional synchronization control for an electrohydraulic servo loading system","volume":"62","author":"Sang","year":"2019","journal-title":"Mechatronics"},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"1425","DOI":"10.1109\/TMECH.2013.2253116","article-title":"Approaching servoclass tracking performance by a proportional valve-controlled system","volume":"18","author":"Sarkar","year":"2013","journal-title":"IEEE ASME Trans. Mechatron."},{"key":"ref_21","doi-asserted-by":"crossref","first-page":"87","DOI":"10.1016\/j.mechatronics.2014.10.003","article-title":"Control of an overlap-type proportional directional control valve using input shaping filter","volume":"29","author":"Lee","year":"2015","journal-title":"Mechatronics"},{"key":"ref_22","doi-asserted-by":"crossref","first-page":"234","DOI":"10.1016\/j.isatra.2019.03.030","article-title":"Deadzone compensation control based on detection of micro flow rate in pilot stage of proportional directional valve","volume":"94","author":"Lu","year":"2019","journal-title":"ISA Trans."},{"key":"ref_23","doi-asserted-by":"crossref","first-page":"59","DOI":"10.1109\/9.273339","article-title":"Adaptive control of plants with unknown dead-zones","volume":"39","author":"Tao","year":"1994","journal-title":"IEEE Trans. Autom. Control"},{"key":"ref_24","doi-asserted-by":"crossref","first-page":"504","DOI":"10.1109\/TAC.2005.864200","article-title":"Adaptive output control of nonlinear systems with uncertain dead-zone nonlinearity","volume":"51","author":"Zhou","year":"2006","journal-title":"IEEE Trans. Autom. Control"},{"key":"ref_25","doi-asserted-by":"crossref","first-page":"7952","DOI":"10.1109\/TIE.2017.2696514","article-title":"Adaptive inverse control for gripper rotating system in heavy-duty manipulators with unknown dead zones","volume":"64","author":"Deng","year":"2017","journal-title":"IEEE Trans. Ind. Electron."},{"key":"ref_26","doi-asserted-by":"crossref","first-page":"269","DOI":"10.1016\/j.isatra.2017.07.022","article-title":"Robust adaptive precision motion control of hydraulic actuators with valve dead-zone compensation","volume":"70","author":"Deng","year":"2017","journal-title":"ISA Trans."},{"key":"ref_27","doi-asserted-by":"crossref","first-page":"707","DOI":"10.1109\/TMECH.2010.2051037","article-title":"Integrated direct\/indirect adaptive robust control of hydraulic manipulators with valve deadband","volume":"16","author":"Mohanty","year":"2010","journal-title":"IEEE ASME Trans. Mechatron."},{"key":"ref_28","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1590\/S1678-58782010000100001","article-title":"An adaptive fuzzy dead-zone compensation scheme and its application to electro-hydraulic systems","volume":"32","author":"Bessa","year":"2010","journal-title":"J. Braz. Soc. Mech. Sci. Eng."},{"key":"ref_29","doi-asserted-by":"crossref","first-page":"3611","DOI":"10.1109\/TNNLS.2018.2869375","article-title":"Adaptive neural network tracking control for robotic manipulators with dead zone","volume":"30","author":"Zhou","year":"2018","journal-title":"IEEE Trans. Neural Netw. Learn. Syst."},{"key":"ref_30","doi-asserted-by":"crossref","first-page":"900","DOI":"10.1109\/TIE.2008.2011621","article-title":"From PID to active disturbance rejection control","volume":"56","author":"Han","year":"2009","journal-title":"IEEE Trans. Ind. Electron."},{"key":"ref_31","doi-asserted-by":"crossref","first-page":"102321","DOI":"10.1016\/j.mechatronics.2020.102321","article-title":"Data-driven iterative tuning based active disturbance rejection control for piezoelectric nano-positioners","volume":"65","author":"Tian","year":"2020","journal-title":"Mechatronics"},{"key":"ref_32","doi-asserted-by":"crossref","first-page":"2909","DOI":"10.1109\/TMECH.2018.2871880","article-title":"Linear active disturbance rejection control from the practical aspects","volume":"23","author":"Ahi","year":"2018","journal-title":"IEEE ASME Trans. Mechatron."},{"key":"ref_33","unstructured":"Gao, Z.Q. (2003, January 4\u20136). Scaling and bandwidth-parameterization based controller tuning. Proceedings of the 2003 American Control Conference, Denver, CO, USA."},{"key":"ref_34","doi-asserted-by":"crossref","first-page":"102252","DOI":"10.1016\/j.mechatronics.2019.102252","article-title":"IMC-based PID control of servo motors with extended state observer","volume":"62","author":"Li","year":"2019","journal-title":"Mechatronics"},{"key":"ref_35","doi-asserted-by":"crossref","first-page":"592","DOI":"10.1016\/j.apenergy.2017.09.095","article-title":"Multi-objective optimization for advanced superheater steam temperature control in a 300 MW power plant","volume":"208","author":"Sun","year":"2017","journal-title":"Appl. Energy"},{"key":"ref_36","doi-asserted-by":"crossref","first-page":"146","DOI":"10.1016\/j.mechatronics.2016.10.005","article-title":"FPGA system-level based design of multi-axis ADRC controller","volume":"40","year":"2016","journal-title":"Mechatronics"},{"key":"ref_37","unstructured":"Merritt, H.E. (1967). Hydraulic Control Systems, Wiley."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/20\/21\/6124\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T10:29:39Z","timestamp":1760178579000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/20\/21\/6124"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,10,28]]},"references-count":37,"journal-issue":{"issue":"21","published-online":{"date-parts":[[2020,11]]}},"alternative-id":["s20216124"],"URL":"https:\/\/doi.org\/10.3390\/s20216124","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2020,10,28]]}}}