Experimental backstepping adaptive sliding mode control of hydraulic position servo system

Ren, Hang; Wang, Xuan

doi:10.1109/icamechs.2017.8316497

Cited by 5 publications

(6 citation statements)

References 11 publications

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“…, where η z and η ψ are small positive numbers. The control components U 10 and U 40 are used to steer their respective mismatches ε z 2 and ε ψ 2 to zero, which result in vanishing of the terms ε z 1 ε z 2 and ε ψ 1 ε ψ 2 (see [19] for more detail). Consequently, it confirms the negative definiteness of the augmented Lyapunov functions Vz 2 and Vψ 2 .…”

Section: Fully-actuated Subsystemmentioning

confidence: 99%

“…Theorem 2: Consider that the dynamics of underactuated subsystem (in (3b)) are transformed into (14). If the backstepping procedure based virtual control laws χ 2 and θ 2 and the integral sliding manifolds are chosen according to (19) and (20), respectively, then the following control laws will ensure finite-time sliding mode enforcement and consequently asymptotic convergence of the errors states.…”

Section: Under-actuated Subsystemmentioning

confidence: 99%

See 1 more Smart Citation

Robust Integral Sliding Mode Control Design for Stability Enhancement of Under-actuated Quadcopter

Ullah

Mehmood

Khan

et al. 2020

Int. J. Control Autom. Syst.

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In this paper, a robust backstepping integral sliding mode control (RBISMC) technique is designed for the flight control of a quadcopter, which is an under-actuated nonlinear system. First, the mathematical model of this highly coupled and under-actuated system is described in the presence of dissipative drag forces. Second, a robust control algorithm is designed for the derived model to accurately track the desired outputs while ensuring the stability of attitude, altitude and position of the quadcopter. A step by step mathematical analysis, based on the Lyapunov stability theory, is performed that endorses the stability of both the fully-actuated and under-actuated subsystems of the aforementioned model. The comparison of proposed RBISMC control algorithm, with fraction order integral sliding mode control (FOISMC), affirms the enhanced performance in terms of faster states convergence, improved chattering free tracking and more robustness against uncertainties in the system.

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Section: Fully-actuated Subsystemmentioning

confidence: 99%

Section: Under-actuated Subsystemmentioning

confidence: 99%

Robust Integral Sliding Mode Control Design for Stability Enhancement of Under-actuated Quadcopter

Ullah

Mehmood

Khan

et al. 2020

Int. J. Control Autom. Syst.

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“…Theorem 1: Consider servo system driven by twin motors with unknown system parameters, unknown actuators failures shown in (3) under Assumption 1 to 4. For bounded initial conditions, suppose…”

Section: Consider the Following Lyapunov Functionmentioning

confidence: 99%

“…Nowadays, servo system has been widely used in industrial production, and various of research on high precision servo system control has been proposed. These control algorithms focus on not only classical control methods, such as PID control [1], [2], adaptive control [3]- [5], robust control [6]- [8], but also work on intelligent control, such as predictive control [9]- [11], neural network control [12], [13]. Meanwhile, for high power, large inertia and high performance twin motors servo system are widely used in industrial fields to meet the requirements of industrial production.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Dynamic Surface Control for Servo System Driven by Twin Motors With Unknown Actuator Failures

Wang

Cai

et al. 2019

IEEE Access

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Adaptive backstepping control is an effective method for servo system driven by twin motors with unknown actuator failures, however, problems such as explosion of complexity make it can not be used in the actual control systems. In this paper, an algorithm of adaptive dynamic surface control is proposed for servo system driven by twin motors with unknown actuator failures, which can eliminate the expansion of the differential term and simplify calculations in the controller design. In addition, all parameters and disturbances in the system model are unknown, which require to be identified online. The simulation results also provided in order to show the effectiveness of the algorithm.

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“…However, electro-hydraulic systems exhibit strong coupling with complex non-linear flow dynamics and parameter uncertainties [8,9]. To address the challenges posed by system non-linearities and parameter uncertainties, multi-ple control methods are proposed, including extended state observer [10], backstepping adaptive control [11] and model identification method [12]. Here, the local linearization technique is employed to address the micro motion tracking problem.…”

Section: Introductionmentioning

confidence: 99%

Tracking control based on proportional resonant controller for electro‐hydraulic systems with input delay

Ye,

Liu,

et al. 2023

IET Control Theory & Appl

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The growth of marine resources exploitation has led to increased research interest in electro‐hydraulic systems for marine simulation. This study proposes a proportional plus resonant (PR) controller to achieve high tracking performance for electro‐hydraulic systems. Due to the complex structure and non‐linear flow dynamics, establishing accurate mathematical models of electro‐hydraulic systems is challenging. The local linearization technique is applied to simplify the process of model establishment. The system gain is limited by the stability margin due to the input delay, resulting in a phase delay between the real trajectory and the desired reference. To compensate for the phase delay in tracking periodic reference with the traditional proportional and integral controller, a resonant item is added into the controller. The stability analysis of the closed‐loop system is performed using Routh‐Hurwitz criterion. Furthermore, the controller parameters are tuned based on the frequency characteristic to achieve high tracking performance and maintain the adequate stability margin. The effectiveness of the proposed PR controller in tracking periodic references is validated through numerical simulations and practical experiments.

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Experimental backstepping adaptive sliding mode control of hydraulic position servo system

Cited by 5 publications

References 11 publications

Robust Integral Sliding Mode Control Design for Stability Enhancement of Under-actuated Quadcopter

Robust Integral Sliding Mode Control Design for Stability Enhancement of Under-actuated Quadcopter

Adaptive Dynamic Surface Control for Servo System Driven by Twin Motors With Unknown Actuator Failures

Tracking control based on proportional resonant controller for electro‐hydraulic systems with input delay

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