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

fYear

2011

fDate

17-20 Aug. 2011

Firstpage

81

Lastpage

85

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Fluid Power and Mechatronics (FPM), 2011 International Conference on

Conference_Location

Beijing

Print_ISBN

978-1-4244-8451-5

Type

conf

DOI

10.1109/FPM.2011.6045734

Filename

6045734