Systematic control of a class of nonlinear systems with application to electrohydraulic cylinder pressure control

Abstract

This paper develops a systematic methodology for the control of a class of nonlinear systems and applies it to an electrohydraulic system. The class of systems to be dealt with are those that are single input and can be put in strict feedback form. The approach is conceptually similar to previously developed integrator backstepping methodologies. However, unlike some previous investigations which have relied exclusively on a Lyapunov analysis, this work presents a stability analysis using a passivity formulation. There are two main advantages of the proposed approach which become significant during implementation. One practical advantage is that the resulting controller leads to synthetic inputs that are decoupled in a certain sense. This leads to a compartmentalization of modeling error effects associated with the controller. A second advantage of this method is that the system model need not be differentiated in the control formulation. A class of modeling error is introduced and compensated for with the resulting control able to guarantee specified boundary layer tracking. A nonlinear model is developed and verified for an electrohydraulic testbed consisting of a cylinder governed by a electronically controlled servovalve. Finally, the control algorithm is implemented on the testbed and a comparison is made with existing integrator backstepping algorithms. The comparisons demonstrate the benefits of the presented approach.Index Terms-Electrohydraulics, passivity-based control, strict feedback form systems.

Neural – Adaptive Control Based on Feedback Linearization for Electro Hydraulic Servo System

“…In [14] Alleyne and Liu developed a control strategy that guarantees global stability of nonlinear, minimum phase single-input single-output (SISO) systems in the strict feedback form by using a passivity approach and they later used this strategy to control the pressure of an EHSS.…”

Repetitive learning of backstepping controlled nonlinear electrohydraulic material testing system

“…While the systematic approach to integrator backstepping control for nonlinear systems have been introduced in the book of Kristic et al (1995), there have been rare publications addressing its applications (Lin and Kanellakopoulos, 1997) and implementation issues (Bupp et al 1998, Alleyne andLiu, 2000). The main implementation difficulties stem from the huge control input and chattering often occurs in the transient stage, since the initial state of the controller is a guesswork.…”

Tracking Position Control of Electrohydraulic System with Minimum Number of Sensors

“…Other nonlinear approaches based on neural or fuzzy algorithms are also applied, [30], an adaptive controller is considered too for an electrohydraulic system [9], [15], [31]. An alternative approach have been investigated which is based on classic sliding mode which is added to the adaptive technique, [2]. For strict-feedback model system, a nonlinear controller can be designed with a Backstepping technique, [8].…”