DocumentCode :
342991
Title :
Adaptive robust motion control of single-rod hydraulic actuators: Theory and experiments
Author :
Yao, Bin ; Bu, Fanping ; Reedy, John ; Chiu, George T C
Author_Institution :
Sch. of Mech. Eng., Purdue Univ., West Lafayette, IN, USA
Volume :
2
fYear :
1999
fDate :
2-4 Jun 1999
Firstpage :
759
Abstract :
High performance robust motion control of single-rod hydraulic actuators is considered. In contrast to the double-rod hydraulic actuators studied previously, the two chambers of a single-rod hydraulic actuator have different areas. As a result, the dynamic equations describing the pressure changes in the two chambers cannot be combined into a single load pressure equation. This complicates the controller design since it not only increases the dimension of the system to be dealt with but also brings in the stability issue of the added internal dynamics. A discontinuous projection based adaptive robust controller (ARC) is constructed. The controller is able to take into account not only the effect of parameter variations coming from the inertia load and various hydraulic parameters but also the effect of hard-to-model nonlinearities such as uncompensated friction forces and external disturbances. Extensive experimental results are obtained for the swing motion control of a hydraulic arm. In comparison to a state-of-the-art industrial motion controller, the proposed ARC algorithm achieves more than a magnitude reduction of tracking errors. Furthermore, during constant velocity and regulation periods, the ARC controller reduces the tracking errors almost down to the measurement resolution level
Keywords :
actuators; adaptive control; control nonlinearities; control system synthesis; dynamics; hydraulic control equipment; robust control; ARC controller; controller design; discontinuous projection based adaptive robust controller; external disturbances; hydraulic arm; hydraulic parameters; industrial motion controller; inertia load; internal dynamics; nonlinearities; parameter variations; single-rod hydraulic actuators; swing motion control; tracking errors; uncompensated friction forces; Adaptive control; Control systems; Equations; Error correction; Hydraulic actuators; Motion control; Nonlinear dynamical systems; Programmable control; Robust control; Stability;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
American Control Conference, 1999. Proceedings of the 1999
Conference_Location :
San Diego, CA
ISSN :
0743-1619
Print_ISBN :
0-7803-4990-3
Type :
conf
DOI :
10.1109/ACC.1999.783142
Filename :
783142
Link To Document :
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