Nonlinear Adaptive Robust Force Control of Hydraulic Load Simulator |
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Authors: | YAO Jianyonga b JIAO Zongxiaa YAO Binc SHANG Yaoxinga DONG Wenbind a Science and Technology on Aircraft Control Laboratory Beihang University Beijing China b |
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Institution: | School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China c School of Mechanical Engineering, Purdue University, West Lafayette, IN 47907, USA d Beijing Aerospace Automatic Control Institute, Beijing 100854, China |
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Abstract: | This paper deals with the high performance force control of hydraulic load simulator. Many previous works for hydraulic force control are based on their linearization equations, but hydraulic inherent nonlinear properties and uncertainties make the conventional feedback proportional-integral-derivative control not yield to high-performance requirements. In this paper, a nonlinear system model is derived and linear parameterization is made for adaptive control. Then a discontinuous projection-based nonlinear adaptive robust force controller is developed for hydraulic load simulator. The proposed controller constructs an asymptotically stable adaptive controller and adaptation laws, which can compensate for the system nonlinearities and uncertain parameters. Meanwhile a well-designed robust controller is also developed to cope with the hydraulic system uncertain nonlinearities. The controller achieves a guaranteed transient performance and final tracking accuracy in the presence of both parametric uncertainties and uncertain nonlinearities; in the absence of uncertain nonlinearities, the scheme also achieves asymptotic tracking performance. Simulation and experiment comparative results are obtained to verify the high-performance nature of the proposed control strategy and the tracking accuracy is greatly improved. |
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Keywords: | hydraulic load simulator adaptive control robust control nonlinear control hydraulic actuators Lyapunov functions |
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