Robust adaptive control for hydraulic servosystems

Andrew R Plummer, N D Vaughan

Research output: Contribution to journalArticlepeer-review

128 Citations (Scopus)

Abstract

The application of an indirect (self-tuning) adaptive controller to an electro-hydraulic positioning system is described. The underlying control method is pole placement, with the addition of a demand filter to allow noise effects to be reduced without degrading closed-loop performance. Recursive least squares is used to estimate the plant parameters, but the data is pre-filtered to reduce bias. A novel covariance trace limiting algorithm provides estimator reliability despite periods of insufficient excitation. Off-line system identification is employed to help controller design for the electro-hydraulic servosystem. The resulting controller performs well, and adapts rapidly to changes in load stiffness and supply pressure.
Original languageEnglish
Pages (from-to)237-244
Number of pages8
JournalJournal of Dynamic Systems, Measurement and Control: Transactions of the ASME
Volume118
Issue number2
DOIs
Publication statusPublished - Jun 1996

Fingerprint Dive into the research topics of 'Robust adaptive control for hydraulic servosystems'. Together they form a unique fingerprint.

Cite this