Adaptive Backstepping Control of an Electrohydraulic Actuator

This paper presents an adaptive position control for a pump-controlled electrohydraulic actuator (EHA) based on an adaptive backstepping control scheme. The core feature of this paper is the combination of a modified backstepping algorithm with a special adaptation law to compensate all nonlinearities and uncertainties in EHA system. First of all, the mathematical model of the EHA is developed. The position control is then formulated using a modified backstepping technique and the uncertainties in hydraulic system are adapted by employing a special Lyapunov function. The control signal consists of an adaptive control signal to compensate the uncertainties and a simple robust structure to ensure the robustness corresponding to a bounded disturbance. Experimental results proved strongly the ability of the proposed control method.