YANG Si-yang, HAN Jiang, ZHANG Kui-bang, XIA Lian. A Robust Adaptive Backstepping Control Method for ElectroHydraulic Position Servo Systems[J]. Applied Mathematics and Mechanics, 2017, 38(6): 676-684. doi: 10.21656/1000-0887.370272
Citation: YANG Si-yang, HAN Jiang, ZHANG Kui-bang, XIA Lian. A Robust Adaptive Backstepping Control Method for ElectroHydraulic Position Servo Systems[J]. Applied Mathematics and Mechanics, 2017, 38(6): 676-684. doi: 10.21656/1000-0887.370272

A Robust Adaptive Backstepping Control Method for ElectroHydraulic Position Servo Systems

doi: 10.21656/1000-0887.370272
Funds:  The National Key Technology R&D Program of China(2015BAF26B01);The National Natural Science Foundation of China(51575154)
  • Received Date: 2016-09-06
  • Rev Recd Date: 2016-10-07
  • Publish Date: 2017-06-15
  • Aimed at the tracking control problem of electro-hydraulic servo systems due to the parameter uncertainties and nonlinear characteristics et al., a robust adaptive backstepping method with parameter adaptive performances was presented based on the Lyapunov stability theory. The adaptive law was designed to suppress the influences of parameter uncertainties on the tracking control performances of the system and the robust control law rendered the system globally uniformly asymptotically stable. In addition, the discontinuity caused by the direction change of the servo valve was approximated. With the servo valve-controlled symmetric cylinder as the control object, the simulation results show that, compared with the traditional PD control method, the proposed backstepping control method renders the tracking error fluctuation of the electro-hydraulic position servo system slighter and the convergence rate faster, and requires a much lower input signal voltage for the servo valve smoother, so the uncertain parameters can converge to and keep at the their stable values after a short period of time. An example proves the effectiveness of the proposed algorithm.
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