Parametric adaptive estimation and backstepping control of electro-hydraulic actuator with decayed memory filter

Qing Guo, Ping Sun, Jing Min Yin, Tian Yu, Dan Jiang

Research output: Contribution to journalArticlepeer-review

38 Citations (Scopus)

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.

Original languageEnglish
Pages (from-to)202-214
Number of pages13
JournalISA Transactions
Volume62
DOIs
Publication statusPublished - 1 May 2016

Keywords

  • Backstepping control
  • Decayed memory filter
  • Electro-hydraulic system
  • Parametric adaptive estimation

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