Adaptive Nonlinear Optimal Compensation Control for Electro-hydraulic Load Simulator

Yao, Jianyong; Zhang, Jiao; Shang, Yaoxing; Huang, Cheng

doi:10.1016/s1000-9361(09)60275-2

Cited by 66 publications

(18 citation statements)

References 10 publications

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“…Then, the control input applied to the servo valve is directly proportional to the spool position with static mapping, ie, x v = k i u. Therefore, Equation 15 can be transformed into…”

Section: Assumption 2 the Desired Position X 1d (T) Is C 3 Continuoumentioning

confidence: 99%

“…Some of the application areas of hydraulic systems include electrohydraulic positioning systems, [1][2][3][4][5][6] active suspension control, 7 machine tools, 8 robot manipulators, [9][10][11] and hydraulic force systems. [12][13][14][15][16][17] However, nonlinear behavior, 18 stability, parameter variations during operation, and hard-to-model nonlinearities such as uncompensated friction forces and external disturbances continue to complicate the development of high-performance closed-loop controllers. In the past, much research in control of hydraulic systems has used linear control theory 19,20 and feedback linearization techniques.…”

Section: Introductionmentioning

confidence: 99%

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Adaptive robust output‐feedback motion control of hydraulic actuators

Xu-dong

Yao

Zhou

2017

Adaptive Control & Signal

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Most previous advanced motion control of hydraulic actuators used full-state feedback control techniques. However, in many cases, only position feedback is available, and thus, there are imperious demands for output-feedback control for hydraulic systems. This paper firstly transforms a hydraulic model into an output feedback-dependent form. Thus, the K-filter can be employed, which provides exponentially convergent estimates of the unmeasured states. Furthermore, this observer has an extended filter structure so that online parameter adaptation can be utilized.In addition, it is a well-known fact that any realistic model of a hydraulic system suffers from significant extent of uncertain nonlinearities and parametric uncertainties. This paper constructs an adaptive robust controller with backstepping techniques, which is able to take into account not only the effect of parameter variations coming from various hydraulic parameters but also the effect of hard-to-model nonlinearities such as uncompensated friction forces, modeling errors, and external disturbances.Moreover, estimation errors that come from initial state estimates and uncompensated disturbances are dealt with via certain robust feedback at each step of the adaptive robust backstepping design. After that, a detailed stability analysis for the output-feedback closed-loop system is scrupulously checked, which shows that all states are bounded and that the controller achieves a guaranteed transient performance and final tracking accuracy in general and asymptotic output tracking in the presence of parametric uncertainties only. Extensive experimental results are obtained for a hydraulic actuator system and verify the high-performance nature of the proposed output-feedback control strategy.

show abstract

“…Then, the control input applied to the servo valve is directly proportional to the spool position with static mapping, ie, x v = k i u. Therefore, Equation 15 can be transformed into…”

Section: Assumption 2 the Desired Position X 1d (T) Is C 3 Continuoumentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Adaptive robust output‐feedback motion control of hydraulic actuators

Xu-dong

Yao

Zhou

2017

Adaptive Control & Signal

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show abstract

“…How to determine a suitable value for c K is a practical problem. Yao [20] studied to modify the value automatically through online calculation. Some parameters such as actuator's leakage coefficient, the flow rate gain and flow pressure coefficient of actuator valve, etc, are needed for the calculation process.…”

Section: The Traditional Velocity Synchronization Control Schemementioning

confidence: 99%

“…Then, it is proved that, based on the control rate Eq. ( 20) and parametric adaptive rate Eq. ( 21), such a * θ could be obtained.…”

Section: Appendix Dmentioning

confidence: 99%

Adaptive velocity synchronization compound control of electro-hydraulic load simulator

Wang

Zhang

Quan

2015

Aerospace Science and Technology

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“…Sliding mode control [11,12] has a wide range of application in hydraulic control, which is frequently along with some uncertainty learning and compensation techniques to deal with uncertainty and nonlinearity of controlled plant. The adaptive control method [13,14] is equally a research hotspot, employing adaptive laws to compensate for uncertain parameters. Other control methods, such as fuzzy PID control [15], backstepping control [16], feedback linearization control [17], robust H 1 control [18], quantitative feedback control [19], and neural network control [20] are also designed for electro-hydraulic servo systems, but their disadvantages could not be ignored.…”

Section: Introductionmentioning

confidence: 99%