Title :
Adaptive robust control with flow rate compensated model for single-rod hydraulic actuators
Author :
Zhao Jiangbo ; Zhao Liang ; Wang Junzheng ; Wang Shoukun
Author_Institution :
Key Lab. of Intell. Control & Decision of Complex Syst., Beijing Inst. of Technol., Beijing, China
Abstract :
A novel flow rate compensated model is proposed to eliminate the square-root nonlinearity of electro-hydraulic systems with time-varying parameters and uncertain nonlinearities. A simplified direct adaptive robust control method using this new model is presented and the transient performance and stability of the controller is proved. The simulation and experimental results show that simplified direct adaptive robust controller with proposed flow rate compensated model can achieve a good performance for given tracking task.
Keywords :
adaptive control; compensation; electrohydraulic control equipment; hydraulic actuators; hydraulic systems; nonlinear control systems; robust control; time-varying systems; controller stability; direct adaptive robust control method; electro-hydraulic systems; flow rate compensated model; single-rod hydraulic actuators; square-root nonlinearity; time-varying parameters; transient performance; uncertain nonlinearities; Adaptation models; Equations; Mathematical model; Robust control; Robustness; Servomotors; Valves; Direct adaptive robust control; Electro-hydraulic system; Flow rate compensated; Uncertain nonlinearity;
Conference_Titel :
Control Conference (CCC), 2014 33rd Chinese
Conference_Location :
Nanjing
DOI :
10.1109/ChiCC.2014.6896463
