首页|Precision motion control for electro-hydraulic axis systems under unknown time-variant parameters and disturbances

Precision motion control for electro-hydraulic axis systems under unknown time-variant parameters and disturbances

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This article focuses on asymptotic precision motion control for electro-hydraulic axis systems under unknown time-variant parameters,mismatched and matched disturbances.Different from the traditional adaptive results that are applied to dispose of unknown constant parameters only,the unique feature is that an adaptive-gain nonlinear term is introduced into the control design to handle unknown time-variant parameters.Concurrently both mismatched and matched distur-bances existing in electro-hydraulic axis systems can also be addressed in this way.With skillful inte-gration of the backstepping technique and the adaptive control,a synthesized controller framework is successfully developed for electro-hydraulic axis systems,in which the coupled interaction between parameter estimation and disturbance estimation is avoided.Accordingly,this designed controller has the capacity of low-computation costs and simpler parameter tuning when compared to the other ones that integrate the adaptive control and observer/estimator-based technique to dividually handle parameter uncertainties and disturbances.Also,a nonlinear filter is designed to eliminate the"explosion of complexity"issue existing in the classical back-stepping technique.The stability analysis uncovers that all the closed-loop signals are bounded and the asymptotic tracking performance is also assured.Finally,contrastive experiment results validate the superiority of the developed method as well.

Adaptive controlAsymptotic convergenceElectro-hydraulic axis sys-temPrecision motion controlUnknown time-variant parameters and disturbances

Xiaowei YANG、Yaowen GE、Wenxiang DENG、Jianyong YAO

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School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing 210094,China

National Key R&D Program of ChinaNational Natural Science Foundation of ChinaNational Natural Science Foundation of ChinaNational Natural Science Foundation of ChinaFok Ying-Tong Education Foundation of ChinaPostgraduate Research & Practice Innovation Program of Jiangsu Province

2021YFB2011300520752625190527152275062171044KYCX22_0471

2024

10.1016/j.cja.2023.06.001

中国航空学报(英文版)
中国航空学会

中国航空学报(英文版)

CSTPCDEI
影响因子：0.847
ISSN：1000-9361
年,卷(期)：2024.37(1)
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