Parametric adaptive control of single-rod electrohydraulic system with block-strict-feedback model

被引:66
作者
Guo, Qing [1 ,2 ,3 ]
Zuo, Zongyu [4 ]
Ding, Zhengtao [5 ]
机构
[1] Univ Elect Sci & Technol China, Sch Aeronaut & Astronaut, Chengdu, Peoples R China
[2] Zhejiang Univ, State Key Lab Fluid Power & Mechatron Syst, Hangzhou, Peoples R China
[3] Aircraft Swarm Intelligent Sensing & Cooperat Con, Chengdu, Peoples R China
[4] Beihang Univ BUAA, Res Div 7, Beijing, Peoples R China
[5] Univ Manchester, Dept Elect & Elect Engn, Control Syst Ctr, Manchester, Lancs, England
基金
中国国家自然科学基金;
关键词
Single-rod electrohydraulic system; Parametric adaptive control; Block-strict-feedback control; Prescribed performance constraint; BARRIER LYAPUNOV FUNCTIONS; BACKSTEPPING CONTROL; ROBUST-CONTROL; MOTION CONTROL; ACTUATORS;
D O I
10.1016/j.automatica.2020.108807
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
To address the universal single-rod electrohydraulic system (EHS), a block-strict-feedback model is constructed for the position control loop design. Different from the previous strict-feedback controllers used in EHS, the proposed controller avoids the model order-reduction problem and relaxes the strict-feedback model assumption for the single-rod EHS encountered by the existing results. Hence, all the dynamic physical states of single-rod EHS are directly used in control design. Since the hydraulic parametric uncertainties and the external load would degrade the output tracking performance of EHS, an adaptive control is proposed to guarantee all system states globally and uniformly bounded with parameter adaptation. The constraint holding technique called prescribed performance constraint (PPC) is adopted to improve the output response and to achieve a desirable performance. The effectiveness of the proposed controller is demonstrated by a comparison with the strict-feedback controller via both simulation and experiments. (C) 2020 Elsevier Ltd. All rights reserved.
引用
收藏
页数:9
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