Parametric adaptive estimation and backstepping control of electro-hydraulic actuator with decayed memory filter |
| |
| Affiliation: | 1. School of Aeronautics and Astronautics, University of Electronic Science and Technology of China, Chengdu, 611731, China;2. Center for Power Transmission and Motion Control, Department of Mechanical Engineering, University of Bath, Bath BA2 7AY, UK;3. The State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou, China;4. School of Mechatronics Engineering, University of Electronic Science and Technology of China, 611731 Chengdu, China;1. Department of Mechanical and Manufacturing Engineering, University of Calgary, Calgary, Alberta, Canada;1. Mechanical Engineering Department, Jadavpur University, 700032, India;2. Electrical Engineering Department, Jadavpur University, 700032, India;1. School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou 221116, China;2. Jiangsu Key Laboratory of Mine Mechanical and Electrical Equipment, China University of Mining and Technology, Xuzhou 221116, China;3. Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control, Yanshan University, Qinhuangdao 066004, China;4. Department of Mechanical Engineering, University of Maryland, Baltimore County, Baltimore, MD 21250, USA;1. The State Key Laboratory of High-performance and Complex Manufacturing, Central South University, Changsha 410083, China;2. School of Mechanical and Electrical Engineering, Central South University, Changsha 410083, China |
| |
| Abstract: | Some unknown parameter estimation of electro-hydraulic system (EHS) should be considered in hydraulic controller design due to many parameter uncertainties in practice. In this study, a parametric adaptive backstepping control method is proposed to improve the dynamic behavior of EHS under parametric uncertainties and unknown disturbance (i.e., hydraulic parameters and external load). The unknown parameters of EHS model are estimated by the parametric adaptive estimation law. Then the recursive backstepping controller is designed by Lyapunov technique to realize the displacement control of EHS. To avoid explosion of virtual control in traditional backstepping, a decayed memory filter is presented to re-estimate the virtual control and the dynamic external load. The effectiveness of the proposed controller has been demonstrated by comparison with the controller without adaptive and filter estimation. The comparative experimental results in critical working conditions indicate the proposed approach can achieve better dynamic performance on the motion control of Two-DOF robotic arm. |
| |
| Keywords: | Parametric adaptive estimation Electro-hydraulic system Backstepping control Decayed memory filter |
| 本文献已被 ScienceDirect 等数据库收录！ |
|
