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

Qing Guo, Tian Yu, Dan Jiang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

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 languageEnglish
Title of host publicationProceedings of 2015 International Conference on Fluid Power and Mechatronics, FPM 2015
PublisherIEEE
Pages888-891
Number of pages4
ISBN (Print)9781479987702
DOIs
Publication statusPublished - 24 Nov 2015
Event7th International Conference on Fluid Power and Mechatronics, FPM 2015 - Harbin, China
Duration: 5 Aug 20157 Aug 2015

Conference

Conference7th International Conference on Fluid Power and Mechatronics, FPM 2015
CountryChina
CityHarbin
Period5/08/157/08/15

Keywords

  • backstepping control
  • electro-hydraulic system
  • parametric adaptive estimation
  • robotic arm

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  • 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 (pp. 888-891). [7337239] IEEE. https://doi.org/10.1109/FPM.2015.7337239