Adaptive Backstepping Control of an Electrohydraulic Actuator
Adaptive Backstepping Control of an Electrohydraulic Actuator
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DOI：
10.1109/tmech.2013.2265312
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发表时间：
2014-06
期刊：
影响因子：
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通讯作者：
K. Ahn;D. N. C. Nam;Maolin Jin
中科院分区：
文献类型：
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作者：
K. Ahn;D. N. C. Nam;Maolin Jin
提出了一种基于自适应反推控制方案的泵控电液执行器自适应位置控制方法。本文的核心特点是将一种改进的反步法与一种特殊的自适应律相结合来补偿EHA系统中的所有非线性和不确定性。首先，建立了电动助力转向的数学模型。在此基础上，采用改进的反推方法建立位置控制模型，并利用特殊的Lyapunov函数对液压系统中的不确定性进行自适应。该控制信号由一个补偿不确定性的自适应控制信号和一个简单的鲁棒结构组成，以确保对应于有界扰动的鲁棒性。实验结果有力地证明了该控制方法的有效性。
This paper presents an adaptive position control for a pump- controlled electrohydraulic actuator (EHA) based on an adaptive backstepping control scheme. The core feature of this paper is the combination of a modified backstepping algorithm with a special adaptation law to compensate all nonlinearities and uncertainties in EHA system. First of all, the mathematical model of the EHA is developed. The position control is then formulated using a modified backstepping technique and the uncertainties in hydraulic system are adapted by employing a special Lyapunov function. The control signal consists of an adaptive control signal to compensate the uncertainties and a simple robust structure to ensure the robustness corresponding to a bounded disturbance. Experimental results proved strongly the ability of the proposed control method.