An alterable gain adaptive control compensation methods for hydraulic servo joint based on ANFIS

The tracking errors often occur during the position tracking because the hydraulic servo joint is a nonlinear dynamic system with saturation, dead zone and stroke coupling. In order to solve this problem, the working principal of the joint is described, and the dynamic model of the joint is established. A control compensation method with adaptive network based fuzzy inference system (ANFIS) is presented. The method enables to adjust the alterable gain coefficients by the sample data sets training and self-learning. The position tracking errors, in which saturation, dead zone and stroke coupling result, are eliminated. Eventually, the simulation results show that the method is feasible.