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Nonlinear adaptive robust backstepping force control of hydraulic load simulator: Theory and experiments

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Abstract

High performance robust force control of hydraulic load simulator with constant but unknown hydraulic parameters is considered. In contrast to the linear control based on hydraulic linearization equations, hydraulic inherent nonlinear properties and uncertainties make the conventional feedback proportional-integral-derivative (PID) control not yield to high performance requirements. Furthermore, the hydraulic system may be subjected to non-smooth and discontinuous nonlinearities due to the directional change of valve opening. In this paper, based on a nonlinear system model of hydraulic load simulator, a discontinuous projection-based nonlinear adaptive robust back-stepping controller is developed with servo valve dynamics. The proposed controller constructs a novel stable adaptive controller and adaptation laws with additional pressure dynamic related unknown parameters, which can compensate for the system nonlinearities and uncertain parameters, meanwhile a well-designed robust controller is also synthesized to dominate the model uncertainties coming from both parametric uncertainties and uncertain nonlinearities including unmodeled and ignored system dynamics. The controller theoretically guarantee a prescribed transient performance and final tracking accuracy in presence of both parametric uncertainties and uncertain nonlinearities; while achieving asymptotic output tracking in the absence of unstructured uncertainties. The implementation issues are also discussed for controller simplification. Some comparative results are obtained to verify the high-performance nature of the proposed controller.

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Author information

Authors and Affiliations

  1. School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing, 210094, China

    Jianyong Yao

  2. Science and Technology on Aircraft Control Laboratory, Beihang University, Beijing, 100191, China

    Zongxia Jiao

  3. School of Mechanical Engineering, Purdue University, West Lafayette, IN, 47907, USA

    Bin Yao

Authors
  1. Jianyong Yao
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  2. Zongxia Jiao
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  3. Bin Yao
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Corresponding author

Correspondence to Jianyong Yao.

Additional information

Recommended by Associate Editor Si-Hyung Lim

Jianyong Yao received the B. Tech. degree from the Tianjin University, Tianjin, China, in 2006, and the Ph.D. degree in Mechatronics from the Beihang University, Bejing, China, in 2012. In 2012, he joined the School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing, China, as an assistant professor.

Zongxia Jiao received the B.S. and Ph.D. degrees from Zhejiang University, China, in 1985 and 1991, respectively. He was with Beihang University as a Postdoc from 1991 to 1993, and a Professor since 1994. He is currently the College Dean of the School of Automation Science and Electrical Engineering, BUAA. His research interest includes actuators, sensors, fluid power and transmission. He was the recipient of Changjiang Scholar Professor in 2006, and Distinguished Young Scholar in 2008. He has published more than 100 papers in journals and refereed conferences.

Bin Yao received the Ph.D. degree in mechanical engineering from the University of California at Berkeley in 1996. Since 1996, he has been with the School of Mechanical Engineering, Purdue University, West Lafayette, IN, working as a Professor since 2007. He was honored as a Kuang-piu Professor in 2005 and a Changjiang Chair Professor at Zhejiang University by the Ministry of Education of China in 2010 as well. Dr. Yao received an NSFCAREER Award in 1998, the O. Hugo Schuck Best Paper (Theory) Award in 2004, and the Outstanding Young Investigator Award of the ASME Dynamic Systems and Control Division (DSCD) in 2007.

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Yao, J., Jiao, Z. & Yao, B. Nonlinear adaptive robust backstepping force control of hydraulic load simulator: Theory and experiments. J Mech Sci Technol 28, 1499–1507 (2014). https://doi.org/10.1007/s12206-014-0137-z

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  • DOI: https://doi.org/10.1007/s12206-014-0137-z

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