To achieve accurate position control of electro-hydraulic asymmetric cylinder system with only available displacement signal, an output feedback controller is proposed in this paper. The dynamic model of the system is expressed as a Brunovsky form, which helps to estimate the system states and simplify the controller structure. Then Levant differentiator is introduced to estimate the position, velocity and acceleration of the asymmetric cylinder system based on the output signal, which can reduce the impact of measurement noise compared to the means of calculating the time derivative of the displacement signal directly. Besides, a high gain disturbance observer is designed to reject the lumped disturbance rejection of the system including parameter uncertainty, modelling error and external disturbance. Moreover, a sliding mode surface is introduced to the controller design and a robust item with continuous function is applied to compensate for estimation errors. According to Lyapunov theory, the developed output controller is pledged to be stable that can realize disturbance rejection control as well as backstepping-free control. Furthermore, a large-size asymmetric cylinder experimental rig is set up to simulate practical applications environment. Comparative experimental results reveal the validity and potential practical meaning of the developed control approach.

为了在仅具有可用位移信号的情况下实现电液非对称气缸系统的精确位置控制，提出了一种输出反馈控制器。系统的动态模型以Brunovsky形式表示，这有助于估计系统状态并简化控制器结构。然后引入黎凡特微分器，根据输出信号估计非对称气缸系统的位置，速度和加速度，与直接计算位移信号时间导数的方法相比，可以减少测量噪声的影响。此外，设计了一个高增益干扰观测器来抑制系统的集总干扰抑制，包括参数不确定性，建模误差和外部干扰。而且，将滑模表面引入控制器设计，并应用具有连续功能的鲁棒项来补偿估计误差。根据李雅普诺夫理论，开发的输出控制器被证明是稳定的，可以实现干扰抑制控制以及无反步控制。此外，建立了一个大型的不对称圆柱试验台，以模拟实际应用环境。对比实验结果表明，所开发控制方法的有效性和潜在的实际意义。此外，建立了一个大型的不对称圆柱试验台，以模拟实际应用环境。对比实验结果表明，所开发控制方法的有效性和潜在的实际意义。此外，建立了一个大型的不对称圆柱试验台，以模拟实际应用环境。对比实验结果表明，所开发控制方法的有效性和潜在的实际意义。