Real-time tracking control of electro-hydraulic force servo systems using offline feedback control and adaptive control

Shen, Gang; Zhu, Zhencai; Zhao, Jun; Zhu, Weidong; Yu, Tang; Li, Xiang

doi:10.1016/j.isatra.2016.11.012

Cited by 52 publications

(23 citation statements)

References 29 publications

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“…The designed dynamic surface (12) is used to instead of the virtual control derivativesα i (i = 1, 2) and the virtual control variables α i (i = 1, 2) are substituted by the stabilizing functions β i (i = 1, 2). The output-constraint (5) is converted to the time-varying performance constraint (6), which represents the position tracking error e of EHS. Then this constraint is transformed into the new state error z 1 (7).…”

Section: Proof the Candidate Quadratic Lyapunov Function Of The Ehs mentioning

confidence: 99%

“…However, there exist uncertain nonlinearities including parametric uncertainty and external load disturbance in EHS. The former is caused by unknown viscous damping, load stiffness, variations in control fluid volumes, physical characteristics of valve, bulk modulus and oil temperature variations existed in EHS [5,6]. Thus, the high-quality dynamic performance of EHS cannot be always maintained.…”

Section: Introductionmentioning

confidence: 99%

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Prescribed Performance Constraint Regulation of Electrohydraulic Control Based on Backstepping with Dynamic Surface

et al. 2018

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Abstract:In electro-hydraulic system (EHS), uncertain nonlinearities such as some hydraulic parametric uncertainties and external load disturbance often degrade the output dynamic performance. To address this problem, a prescribed performance constraint (PPC) control method is adopted in EHS to restrict the tracking position error of the cylinder position to a prescribed accuracy and guarantee the dynamic and steady position response in a required boundedness under these uncertain nonlinearities. Furthermore, a dynamic surface is designed to avoid the explosion of complexity due to the repeatedly calculated differentiations of the virtual control variables derived in backstepping. The effectiveness of the proposed controller has been verified by a comparative results.

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Section: Proof the Candidate Quadratic Lyapunov Function Of The Ehs mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Prescribed Performance Constraint Regulation of Electrohydraulic Control Based on Backstepping with Dynamic Surface

et al. 2018

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“…The electro-hydraulic servo system (EHSS) has been widely employed in the field of engineering due to prominent advantages such as fast dynamic response, small size, large force/torque output and high reliability [1,2]. However, it is typically non-linear with various nonlinear nature of hydraulic dynamics due to the nonlinear pressureflow characteristics of servo valve, nonlinear friction and nonlinear dynamics of pressure.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Sliding Mode Control of a Nonlinear Electro-hydraulic Servo System for Position Tracking

Yang¹,

Zhang²,

et al. 2019

mech

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In view of the electro-hydraulic position servo system with parameter uncertainty and bounded disturbances, an improved adaptive sliding mode control scheme is proposed. The mathematical model of the valve-controlled system is first constructed with consideration of the external disturbance, matched and mismatched unknown parameters. Then, the parametric adaptive estimation laws are established by Lyapunov technique to estimate the generalized uncertainty parameters, and the discontinuous projection algorithm is used to ensure the boundedness of parameter estimation. In order to eliminate the chattering phenomenon in sliding mode control, the saturation function is designed to replace the sign function and the gain coefficient is adjustable on the sliding surface. Finally, the comparative experimental results clarify that the proposed control scheme has better control performance than the PID controller and the SMC controller.

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“…To suppress the unknown disturbance [25] and ensure the open-cover time and open-cover angle [26], we combine the nonlinear observer [27], adaptive control [28][29][30] and backstepping sliding mode control [31,32]. Scholars have studied many disturbance observers to suppress external disturbances [33,34].…”

Section: Introductionmentioning

confidence: 99%

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

Yin

Shen

2019

Symmetry

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The vertical launching barrel-cover device is a symmetry mechanism, so we can simplify this symmetry mechanism into an electro-hydraulic servo problem. The vertical launching barrel-cover of the underwater missile has parameter uncertainty, load time-varying and strong nonlinear of motion and coupling during the submarine movement. Therefore, it is important to study the nonlinear adaptive antidisturbances control method of the vertical launching barrel-cover. For the vertical launching cover system of the underwater missile, an adaptive backstepping sliding mode control system based on disturbance observer is proposed. The backstepping sliding mode controller is used to solve the problem of nonlinearity and chattering in the system; the adaptive method is used to dynamically follow the changes of the system characteristics, adjust the controller parameters. At the same time, the disturbance observer is added to the system to reduce the sensitivity of the system to disturbance By completing the process of switching cover, we have experimented with the designed adaptive backstepping sliding mode controller to verify the effectiveness of the controller. The controller improves the stability of the whole switch cover system. The experimental results show that compared with traditional proportional integral (PI) controller and sliding mode controller, the controller solves the problem of over-limit when the cover is in place, and has excellent tracking performance in the process of the switch cover.

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Real-time tracking control of electro-hydraulic force servo systems using offline feedback control and adaptive control

Cited by 52 publications

References 29 publications

Prescribed Performance Constraint Regulation of Electrohydraulic Control Based on Backstepping with Dynamic Surface

Prescribed Performance Constraint Regulation of Electrohydraulic Control Based on Backstepping with Dynamic Surface

Adaptive Sliding Mode Control of a Nonlinear Electro-hydraulic Servo System for Position Tracking

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

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