Backstepping control of an electro-hydraulic servo system subject to disturbance and parameter uncertainty

Abstract

This paper addresses the control of a hydraulic servo system rod subject to uncertainty in parameters and to an unknown but bounded disturbance. The proposed backstepping-based robust controller guaranties a uniformly ultimately bounded tracking error leading to practical stability of the closed loop system. Two schemes are proposed. First, a constant gain-based controller that achieves a good tracking accuracy with a steady state error in the millimeter range, but induces control input oscillations in transient.To improve such behavior, a second controller with time varying gain is proposed. Both controllers assure robustness against perturbations and uncertainties in the dynamics of the system. Numerical simulations illustrate the efficacy of the proposed scheme.

Adaptive Backstepping Sliding Mode Control for the Vertical Launching Barrel-Cover of the Underwater Missile

“…x 1d (14) where k 1 is a positive number greater than zero. By introducing formula (14) into the formula (13), we can get that:…”

“…To ensure the tracking characteristics of the system, scholars have done a lot of research work on the parameter uncertainty and external time-varying disturbance of electro-hydraulic servo system [13,14].…”

Artificial Bee Colony-based Adaptive Position Control of Electrohydraulic Servo Systems with Parameter Uncertainty

“…In fact, it has been shown that backstepping technique can be used to force nonlinear systems to behave like a linear system transformed into a new set of coordinates. One of the numerous advantages of using backstepping technique to design a controller is its ability to avoid useful nonlinearity cancelation [6,7]. The objective of backstepping gravitates towards stabilization and tracking in contrast with its corresponding feedback linearization method.…”