Backstepping Control of an Electro-Hydraulic Actuator using Kalman Filter

This paper presents the development of a Kalman filter-based controller for an electro-hydraulic actuator (EHA) system in the face of the disturbance white noise and unmeasurable system states. First, the continuous nonlinear EHA system is converted to a discrete system. Second, the discrete system is linearized to facilitate the filter design. Next, a Kalman filter (KF) is constructed to simultaneously estimate the unmeasurable system state and reduce the noisy sensor measurements. Then, backstepping control technique using KF approach is synthesized to not only obtain accuracy tracking control but also eliminate the disturbance white noise under unmeasurable system states. Finally, simulation evaluations and comparison studies are investigated to validate the feasibility of the presented method.