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Jianyong Yao,Zongxia Jiao,Bin Yao 대한기계학회 2014 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.28 No.4
High performance robust force control of hydraulic load simulator with constant but unknown hydraulic parameters is considered. Incontrast to the linear control based on hydraulic linearization equations, hydraulic inherent nonlinear properties and uncertainties makethe conventional feedback proportional-integral-derivative (PID) control not yield to high performance requirements. Furthermore, thehydraulic system may be subjected to non-smooth and discontinuous nonlinearities due to the directional change of valve opening. In thispaper, based on a nonlinear system model of hydraulic load simulator, a discontinuous projection-based nonlinear adaptive robust backsteppingcontroller is developed with servo valve dynamics. The proposed controller constructs a novel stable adaptive controller andadaptation laws with additional pressure dynamic related unknown parameters, which can compensate for the system nonlinearities anduncertain parameters, meanwhile a well-designed robust controller is also synthesized to dominate the model uncertainties coming fromboth parametric uncertainties and uncertain nonlinearities including unmodeled and ignored system dynamics. The controller theoreticallyguarantee a prescribed transient performance and final tracking accuracy in presence of both parametric uncertainties and uncertainnonlinearities; while achieving asymptotic output tracking in the absence of unstructured uncertainties. The implementation issues arealso discussed for controller simplification. Some comparative results are obtained to verify the high-performance nature of the proposedcontroller.
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