Saturated Adaptive Control of an Electrohydraulic Actuator with Parametric Uncertainty and Load Disturbance

Qing Guo, Jingmin Yin, Tian Yu, Dan Jiang

Research output: Contribution to journalArticlepeer-review

46 Citations (Scopus)

Abstract

In this paper, a saturated adaptive control of an electrohydraulic actuator is proposed to drive the joint motion of a two-degree-of-freedom robotic arm. Due to the largely unknown load disturbance from the driven force/torque of the robotic arm and the existing control saturation of a servo valve, a Nussbaum function is designed to compromise between the antiwindup control effect and the dynamic response performance of an electrohydraulic system. Then, an adaptive parametric estimation law is designed to estimate the hydraulic parametric uncertainties. The effectiveness of the proposed controller has been demonstrated by comparative experimental study, which indicates that this controller can quickly recover the unsaturated dynamics with satisfactory tracking accuracy under largely unknown load disturbance and parametric uncertainty.

Original languageEnglish
Article number7900409
Pages (from-to)7930-7941
Number of pages12
JournalIEEE Transactions on Industrial Electronics
Volume64
Issue number10
Early online date14 Apr 2017
DOIs
Publication statusPublished - 1 Oct 2017

Keywords

  • Electrohydraulic actuator (EHA)
  • largely unknown disturbance
  • Nussbaum function
  • parametric uncertainty
  • saturated adaptive control

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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