Nonlinear adaptive output feedback robust control of hydraulic actuators with largely unknown modeling uncertainties |
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| Affiliation: | 1. School of Mechanical and Power Engineering, Nanjing Tech University, Nanjing 211816, China;2. School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China;1. Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control, Yanshan University, Qinhuangdao, 066004, China;2. Key Laboratory of Advanced Forging & Stamping Technology and Science (Yanshan University), Ministry of Education of China, Qinhuangdao, 066004, China;3. School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou, 221116, China;4. Department of Mechanical Engineering, University of Maryland, Baltimore County, Baltimore, MD, 21250, USA;5. State Key Laboratory of Robotics and System of China, Harbin Institute of Technology, 150001, China |
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| Abstract: | In this paper, a nonlinear adaptive output feedback robust controller is proposed for motion control of hydraulic servo systems in the presence of largely unknown matched and mismatched modeling uncertainties. Different from the existing control technologies, the presented hydraulic closed-loop controller which can deal with strong matched and mismatched parametric uncertainties is synthesized via the backstepping technique. Specially, a nonlinear disturbance observer which can estimate the largely mismatched disturbance is integrated into the design of the linear extended state observer to obtain estimation of unmeasurable system states, uncertain parameters and strong disturbances simultaneously. In addition, the projection-type adaptive law is synthesized into the design of the resulting controller. More importantly, the global stability of the whole closed-loop system is strictly guaranteed by the Lyapunov analysis. Furthermore, the effectiveness and practicability of the presented control strategy have been demonstrated by comparative experiments under different working conditions. |
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