Abstract
This article mainly concerns the high-performance motion control of valve-controlled hydraulic actuators with input saturation and modelling uncertainties. The nonlinear mathematic model including a continuously differentiable static friction model is constructed, and then adaptive robust design framework is adopted to cope with the modelling uncertainties, which always impede the progress of high-performance motion controller. Input saturation, which frequently exists in most physical systems, has been found to be prone to performance decay. To address this specific issue, an embedded anti-windup block containing two adjusting mechanisms is properly designed to improve the motion controller to ensure the stability and performance preservation in circumstance of input saturation, which is proved via rigorous Lyapunov analysis. Typical simulation is implemented to illustrate the availability of the proposed control method.
Highlights
Hydraulic actuators have been widely utilized in modern industry and defence because of the advantages of high power density, low calorific value and the ability to apply large force/torques compared to electro-motor counterparts,[1] such as aircraft actuators,[2] robots and manipulators,[3] rolling mill,[4] punching machine[5] and hardware-in-the-loop equipment.[6]
The main contribution of this study is to propose an integrated controller based on the adaptive robust control (ARC) framework
The following typical controllers are used for comparison: 1. SARC: This is the proposed saturated adaptive robust control with anti-windup compensation and the detailed form is given in section ‘Nonlinear model and preliminaries’
Summary
Hydraulic actuators have been widely utilized in modern industry and defence because of the advantages of high power density, low calorific value and the ability to apply large force/torques compared to electro-motor counterparts,[1] such as aircraft actuators,[2] robots and manipulators,[3] rolling mill,[4] punching machine[5] and hardware-in-the-loop equipment.[6]. Many available methods are developed, such as bounded function methods,[14] model predictive control[15] and anti-windup compensation.[16,17,18] The first method can achieve asymptotic tracking performance in the input saturation circumstance. J_ 2 =À kj2j2 + kD2Du where Du = u2satumax(u); j1 and j2 are designed to adjust the error when saturation occurs and their values are undated by filter dynamic equation (10); and kj[1], kj2, kD1 and kD2 are positive parameters to be designed.
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
