Adaptive backstepping design of electro-hydraulic actuator based on state feedback control

In this paper, a parametric adaptive backstepping control is presented to improve the dynamic responses of Electro-hydraulic system under unknown parameters and dynamic external loads. Firstly, 6 unknown parameters is estimated by parametric adaptive estimation law in nonlinear model of EHS. Secondly, the backstepping controller is designed by Lyapunov method to realize the position tracking control of cylinder and guarantee the system state error asymptotic convergence. The experimental results are demonstrated on 2-DOF robotic arm to validate the effectiveness of the proposed controller.