TY - JOUR
T1 - Parametric adaptive estimation and backstepping control of electro-hydraulic actuator with decayed memory filter
AU - Guo, Qing
AU - Sun, Ping
AU - Yin, Jing Min
AU - Yu, Tian
AU - Jiang, Dan
PY - 2016/5/1
Y1 - 2016/5/1
N2 - 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.
AB - 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.
KW - Backstepping control
KW - Decayed memory filter
KW - Electro-hydraulic system
KW - Parametric adaptive estimation
UR - http://www.scopus.com/inward/record.url?scp=84968735762&partnerID=8YFLogxK
UR - http://dx.doi.org/10.1016/j.isatra.2016.02.009
U2 - 10.1016/j.isatra.2016.02.009
DO - 10.1016/j.isatra.2016.02.009
M3 - Article
AN - SCOPUS:84968735762
SN - 0019-0578
VL - 62
SP - 202
EP - 214
JO - ISA Transactions
JF - ISA Transactions
ER -