Real-Time Force Tracking Control of an Electro-Hydraulic System Using a Novel Robust Adaptive Sliding Mode Controller
Real-Time Force Tracking Control of an Electro-Hydraulic System Using a Novel Robust Adaptive Sliding Mode Controller
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DOI：
10.1109/access.2019.2895595
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发表时间：
2020
期刊：
影响因子：
3.9
通讯作者：
Lei Cheng;Zhencai Zhu;G. Shen;Shu-jing Wang;Xiang Li;Yu Tang
中科院分区：
文献类型：
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作者：
Lei Cheng;Zhencai Zhu;G. Shen;Shu-jing Wang;Xiang Li;Yu Tang
针对电液力加载系统存在外部干扰和参数不确定性的特点，提出了一种新的鲁棒自适应滑模控制策略。为了获得所提出的控制器，首先提供的电液力加载系统的非线性动力学模型，其中外部干扰和系统的不确定参数合并。然后，考虑外部干扰和参数不确定性，提出了一种鲁棒自适应滑模控制器的力控制系统，并根据李雅普诺夫稳定性理论设计。该控制器具有在设计符号函数时抑制传统自适应反推控制器抖振现象的优点。为了验证所提出的控制器的有效性和可行性，电液力加载系统的xPC快速成型技术进行了实验研究。实验结果表明，与传统的比例积分控制器和自适应反推控制器相比，该控制器具有更好的力跟踪控制性能。
This article focuses on a novel robust adaptive sliding mode control strategy of an electro-hydraulic force loading system with consideration of external disturbances and parameter uncertainties. To obtain the proposed controller, the nonlinear dynamic model of the electro-hydraulic force loading system is firstly provided, where external disturbances and system’s uncertain parameters are merged. Then, with consideration of external disturbances and parameter uncertainties, a robust adaptive sliding mode controller for the force control system is proposed and designed according to Lyapunov stability theory. The proposed controller has the merit of suppressing chattering phenomenon in traditional adaptive backstepping controllers when designing sign functions. In order to verify effectiveness and feasibility of the proposed controller, experimental studies are implemented on an electro-hydraulic force loading system by xPC rapid prototyping technology. Experimental results demonstrate that the proposed controller exhibits more excellent performance on force tracking control in comparison of a traditional proportional-integral controller and an adaptive backstepping controller.