Title :
High bandwidth adaptive robust control for hydraulic rotary actuator
Author :
Jianyong Yao ; Zongxia Jiao ; Yao, Bin
Author_Institution :
Sch. of Autom. Sci. & Electr. Eng., Beijing Univ. of Aeronaut. & Astronaut., Beijing, China
Abstract :
This paper studies on improving the bandwidth of electro-hydraulic rotary actuator. Electro-hydraulic servo system is a typical nonlinear system, and also usually disturbed by internal and external uncertain factors. The nonlinear and uncertainty characteristics make the conventional controller not yield to the system high bandwidth requirement. In this paper, an adaptive robust controller based on varying boundary discontinuous projection is proposed. Online parameter estimation based its empirical varying trail is given to adapt the proposed controller due to the system nonlinear characteristics. A simulation case study and comparative results are shown that the tracking performance and the bandwidth of the hydraulic rotary actuator are greatly enhanced.
Keywords :
adaptive control; electrohydraulic control equipment; hydraulic actuators; hydraulic systems; nonlinear control systems; parameter estimation; robust control; servomechanisms; uncertain systems; electro-hydraulic rotary actuator; electro-hydraulic servo system; external uncertain factors; high bandwidth adaptive robust control; hydraulic systems; internal uncertain factors; nonlinear characteristics; nonlinear system; online parameter estimation; uncertainty characteristics; varying boundary discontinuous projection; Actuators; Adaptation models; Bandwidth; Robust control; Robustness; Servomotors; adaptive robust control; bandwidth expanding; hydraulic rotary actuator; parameter estimation;
Conference_Titel :
Fluid Power and Mechatronics (FPM), 2011 International Conference on
Conference_Location :
Beijing
Print_ISBN :
978-1-4244-8451-5
DOI :
10.1109/FPM.2011.6045734
