Adaptive backstepping design of electro-hydraulic actuator based on state feedback control

Qing Guo; Tian Yu; Dan Jiang

doi:10.1109/FPM.2015.7337239

Adaptive backstepping design of electro-hydraulic actuator based on state feedback control

Qing Guo, Tian Yu, Dan Jiang

Department of Mechanical Engineering

Research output: Chapter or section in a book/report/conference proceeding › Chapter in a published conference proceeding

4 Citations (SciVal)

Abstract

In this paper, a parametric adaptive backstepping control is presented to improve the dynamic responses of Electro-hydraulic system under unknown parameters and dynamic external loads. Firstly, 6 unknown parameters is estimated by parametric adaptive estimation law in nonlinear model of EHS. Secondly, the backstepping controller is designed by Lyapunov method to realize the position tracking control of cylinder and guarantee the system state error asymptotic convergence. The experimental results are demonstrated on 2-DOF robotic arm to validate the effectiveness of the proposed controller.

Original language	English
Title of host publication	Proceedings of 2015 International Conference on Fluid Power and Mechatronics, FPM 2015
Publisher	IEEE
Pages	888-891
Number of pages	4
ISBN (Print)	9781479987702
DOIs	https://doi.org/10.1109/FPM.2015.7337239
Publication status	Published - 24 Nov 2015
Event	7th International Conference on Fluid Power and Mechatronics, FPM 2015 - Harbin, China Duration: 5 Aug 2015 → 7 Aug 2015

Conference

Conference	7th International Conference on Fluid Power and Mechatronics, FPM 2015
Country/Territory	China
City	Harbin
Period	5/08/15 → 7/08/15

Keywords

backstepping control
electro-hydraulic system
parametric adaptive estimation
robotic arm

Access to Document

10.1109/FPM.2015.7337239

http://dx.doi.org/10.1109/FPM.2015.7337239

Cite this

Guo, Q, Yu, T & Jiang, D 2015, Adaptive backstepping design of electro-hydraulic actuator based on state feedback control. in Proceedings of 2015 International Conference on Fluid Power and Mechatronics, FPM 2015., 7337239, IEEE, pp. 888-891, 7th International Conference on Fluid Power and Mechatronics, FPM 2015, Harbin, China, 5/08/15. https://doi.org/10.1109/FPM.2015.7337239

@inproceedings{ef45c212cd7e418585444a4b1545e0d1,

title = "Adaptive backstepping design of electro-hydraulic actuator based on state feedback control",

abstract = "In this paper, a parametric adaptive backstepping control is presented to improve the dynamic responses of Electro-hydraulic system under unknown parameters and dynamic external loads. Firstly, 6 unknown parameters is estimated by parametric adaptive estimation law in nonlinear model of EHS. Secondly, the backstepping controller is designed by Lyapunov method to realize the position tracking control of cylinder and guarantee the system state error asymptotic convergence. The experimental results are demonstrated on 2-DOF robotic arm to validate the effectiveness of the proposed controller.",

keywords = "backstepping control, electro-hydraulic system, parametric adaptive estimation, robotic arm",

author = "Qing Guo and Tian Yu and Dan Jiang",

year = "2015",

month = nov,

day = "24",

doi = "10.1109/FPM.2015.7337239",

language = "English",

isbn = "9781479987702",

pages = "888--891",

booktitle = "Proceedings of 2015 International Conference on Fluid Power and Mechatronics, FPM 2015",

publisher = "IEEE",

address = "USA United States",

note = "7th International Conference on Fluid Power and Mechatronics, FPM 2015 ; Conference date: 05-08-2015 Through 07-08-2015",

}

TY - GEN

T1 - Adaptive backstepping design of electro-hydraulic actuator based on state feedback control

AU - Guo, Qing

AU - Yu, Tian

AU - Jiang, Dan

PY - 2015/11/24

Y1 - 2015/11/24

N2 - In this paper, a parametric adaptive backstepping control is presented to improve the dynamic responses of Electro-hydraulic system under unknown parameters and dynamic external loads. Firstly, 6 unknown parameters is estimated by parametric adaptive estimation law in nonlinear model of EHS. Secondly, the backstepping controller is designed by Lyapunov method to realize the position tracking control of cylinder and guarantee the system state error asymptotic convergence. The experimental results are demonstrated on 2-DOF robotic arm to validate the effectiveness of the proposed controller.

AB - In this paper, a parametric adaptive backstepping control is presented to improve the dynamic responses of Electro-hydraulic system under unknown parameters and dynamic external loads. Firstly, 6 unknown parameters is estimated by parametric adaptive estimation law in nonlinear model of EHS. Secondly, the backstepping controller is designed by Lyapunov method to realize the position tracking control of cylinder and guarantee the system state error asymptotic convergence. The experimental results are demonstrated on 2-DOF robotic arm to validate the effectiveness of the proposed controller.

KW - backstepping control

KW - electro-hydraulic system

KW - parametric adaptive estimation

KW - robotic arm

UR - http://www.scopus.com/inward/record.url?scp=84962501713&partnerID=8YFLogxK

UR - http://dx.doi.org/10.1109/FPM.2015.7337239

U2 - 10.1109/FPM.2015.7337239

DO - 10.1109/FPM.2015.7337239

M3 - Chapter in a published conference proceeding

AN - SCOPUS:84962501713

SN - 9781479987702

SP - 888

EP - 891

BT - Proceedings of 2015 International Conference on Fluid Power and Mechatronics, FPM 2015

PB - IEEE

T2 - 7th International Conference on Fluid Power and Mechatronics, FPM 2015

Y2 - 5 August 2015 through 7 August 2015

ER -

Adaptive backstepping design of electro-hydraulic actuator based on state feedback control

Abstract

Conference

Keywords

Access to Document

Other files and links

Fingerprint

Cite this