Observer-based backstepping force control of an electrohydraulic actuator

Nakkarat, Prut; Kuntanapreeda, Suwat

doi:10.1016/j.conengprac.2009.02.011

Cited by 123 publications

(74 citation statements)

References 16 publications

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“…The observer based backtepping technique has been designed for force control of electrohydraulic actuator system [12]. The developed control system combine backstepping observer with adaptive and sliding mode controller.…”

Section: Introductionmentioning

confidence: 99%

Design of Lyapunov Based Nonlinear Position Control of Electrohydraulic Servo Systems

Detiček

Kastrevc

2016

SV-JME

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Electrohydraulic servo systems take important place in modern industrial automation. It has been used in many kinds of mechanizations, including robots, computer numerical control (CNC) press brakes, computer controlled testing machines, etc.Electro hydraulic actuator system has become one of the most important actuators in the recent decades. It offers many advantages such as good capability in positioning, fast and smooth response characteristics and high power density. Due to its capability in positioning it has given a significant impact in modern equipment for position control applications [1] and [2]. The applications in position control can be found in production assembly lines, robotics, aircrafts and testing equipment [3] and [4]. However, excellent positioning in these applications requires an accurate electro hydraulic actuator. Therefore, the development of suitable controller which could reflect such characteristics is very significant, although the dynamics of electro hydraulic servo system is highly nonlinear [5] and [6].In ordinary feedback systems the method of feedback linearization is used to eliminate nonlinearities. Feedback linearization employs changes of coordinates to transform a given nonlinear system into equivalent linear one. A major advantage of feedback linearization approach is related to the cancelations of systems nonlinear dynamics that are introduced in design process. On the other hand some kinds of nonlinearities can have positive effects on system stability, therefore their cancellation can lead to instability in the presence of modelling uncertainties. As a solution to this problem the integrator backstepping approached is proposed. The fundamental concept of backstepping method is introduced by Krstic et.al. in their book [7].The approach focusing on the stabilization problem in stochastic nonlinear systems is developed in the extension of this book.

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Section: Introductionmentioning

confidence: 99%

Design of Lyapunov Based Nonlinear Position Control of Electrohydraulic Servo Systems

Detiček

Kastrevc

2016

SV-JME

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“…There are many investigations on the control strategy of the asymmetrical cylinder systems (13)(14)(15) . Under the condition of the system structure presented in this paper, if the traditional PID controller is adopted and the friction between the piston and the internal wall of cylinder is neglected, the control process can be expressed as follows: when the piston reaches the target position, the position error is "0", the output signal of PID is "0" and the valve closes; the oil volume of the non-rod chamber increases because 2 0 q = and 1 0 q > , so the piston moves forwards.…”

Section: Control Strategy and System Modelmentioning

confidence: 99%

Position Control of Asymmetric Hydraulic Cylinder with Two Chambers Connected

Lei

Wang

2011

JSDD

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This paper is concerned with position control of asymmetric hydraulic cylinder system. The hydraulic system consists of an asymmetric hydraulic cylinder with two chambers connected by an orifice, a two-position, two-way proportional valve and a load force. The system structure and the control principle were introduced in this paper. The influence of some structural parameters on the system dynamic performance was analyzed. The analysis and simulation results indicate that a two-position, two-way proportional valve can achieve position control of the asymmetric hydraulic cylinder system. A good dynamic performance can be achieved after using the control strategy proposed by this paper.

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“…For instance, [17] had designed a kind of robust controller based on the PD control structure, which could output different nonlinear compensations according to specific working conditions. Reference [18] designed a nonlinear controller based on backstepping approach for controlling force of a single rod hydraulic actuator and a PI observer was used to estimate the states of the system. References [19,20] described the development of an adaptive fuzzy sliding mode controller for an electrohydraulic system with unknown dead zone.…”

Section: Literature Reviewmentioning

confidence: 99%

A Novel Compound Control Method for Hydraulically Driven Shearer Drum Lifting

Wang

Liu

et al. 2014

Journal of Control Science and Engineering

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In order to adjust shearer drum swiftly and precisely to adapt to the changes of coal seam, a compound control approach based on cerebellar model articulation control and fractional order PID controller was proposed. As the movement precision and response speed of hydraulic system were determined mainly by the control precision of valve-controlled asymmetrical hydraulic cylinder, its working principle and characteristics were analyzed in this paper, with particular focusing on the asymmetry problem. Furthermore, RBF neural network was applied to obtaining reasonable tuning parameters and a control algorithm of proposed controller was designed. Finally, laboratory experiments were developed to verify the validity and effectiveness of proposed compound control method. The testing results, compared with those for other controllers, proved that the proposed compound control method can acquire high movement precision and respond speed in the system of hydraulically driven shearer drum lifting with different control conditions.

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Observer-based backstepping force control of an electrohydraulic actuator

Cited by 123 publications

References 16 publications

Design of Lyapunov Based Nonlinear Position Control of Electrohydraulic Servo Systems

Design of Lyapunov Based Nonlinear Position Control of Electrohydraulic Servo Systems

Position Control of Asymmetric Hydraulic Cylinder with Two Chambers Connected

A Novel Compound Control Method for Hydraulically Driven Shearer Drum Lifting

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