Adaptive Robust Control with Unknown Dead-zone Compensation for Pump Controlled Electro-hydraulic Servo System

doi:10.3901/JME.2024.18.327

Abstract

Abstract: An adaptive robust control method based on unknown dead-zone compensation is proposed for the input dead-zone characteristics, parameter uncertainties and unmodeled disturbances in pump controlled electro-hydraulic servo systems. The pump controlled system model is established to analyze the dead-zone nonlinearity in the system, and a smooth dead-zone inverse function is constructed to compensate the dead-zone. Then the adaptive robust controller is designed using the backstepping method, and the adaptive law is synthesized for parameter estimation to deal with parameter uncertainties including dead-zone parameters, system parameters, and upper bounds of disturbances; the nonlinear robust feedback is used for unknown disturbances suppression. The Lyapunov stability analysis shows that the designed controller can achieve asymptotic tracking in the presence of dead-zone characteristics, parameter uncertainties, and unmodeled disturbances simultaneously. The feasibility and superiority of the proposed control method are verified by comparative experiments.

Key words: adaptive control, robust control, dead-zone compensation, pump controlled system, electro-hydraulic servo system

CLC Number:

TP271

NIU Shanshuai, WANG Junzheng, ZHAO Jiangbo, SHEN Wei. Adaptive Robust Control with Unknown Dead-zone Compensation for Pump Controlled Electro-hydraulic Servo System[J]. Journal of Mechanical Engineering, 2024, 60(18): 327-337.

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