Title :
Nonlinear adaptive nonsmooth dynamic surface control of electro-hydraulic systems
Author :
Duraiswamy, Shivkumar ; Chiu, George T C
Author_Institution :
Sch. of Mech. Eng., Purdue Univ., West Lafayette, IN, USA
Abstract :
This paper discusses the development of an adaptive nonsmooth dynamic surface control (ANDSC) scheme to improve the motion control of SISO electro-hydraulic (EH) systems. A nonlinear EH model is developed for a typical system driven by single-rod actuators. ANDSC takes into account the parameter variations due to change in load inertia, bulk modulus, etc. and improves system robustness to uncertain nonlinearities representing the external disturbances and unmodeled friction forces. The discontinuous projection based adaptation ensures good overall performance. The controller guarantees arbitrarily small bounded tracking error in the presence of model uncertainties. The performance of the proposed approach is analyzed through realistic numerical simulations.
Keywords :
actuators; adaptive control; control nonlinearities; friction; hydraulic systems; motion control; nonlinear control systems; robust control; SISO system; bulk modulus; controller; discontinuous projection based adaptation; electro-hydraulic system; external disturbance; load inertia; motion control; nonlinear adaptive nonsmooth dynamic surface control; nonlinear model; parameter variation; single-rod actuator; system robustness; tracking error; unmodeled friction force; Actuators; Adaptive control; Control systems; Error correction; Friction; Motion control; Nonlinear control systems; Nonlinear dynamical systems; Programmable control; Robustness;
Conference_Titel :
American Control Conference, 2003. Proceedings of the 2003
Print_ISBN :
0-7803-7896-2
DOI :
10.1109/ACC.2003.1244038
