Research on low‐speed performance of continuous rotary electro‐hydraulic servo motor based on robust control with Adaboost prediction

Abstract

In order to improve the robustness and low-speed performance of continuous rotary electro-hydraulic servo system under influences of dynamic uncertainties, parametric perturbation, friction, other non-linear properties, and uncertainties, the robust control strategy was proposed with Adaboost prediction. Firstly, basing on the system mathematic model, the model with structured uncertainty and generalised state equation was established with parametric perturbation and external disturbances, and then the robust controller was developed by adopting H ∞ theory. Furthermore, Adaboost algorithm based on radial basis function (RBF) neural network was applied to design the system feedback mechanism, so the multiple weak neural network learners were obtained by using Adaboost algorithm to train system actual output and input. Also, these weak neural network learners constituted a strong learner to predict the electro-hydraulic servo system output and calculate the predictive error so as to adjust the system robust control output, so the real-time control was carried out by the robust controller. Some comparative simulated results are obtained to verify the proposed controller guarantees performances of low speed, tracking accuracy, and ability of anti-interference, which greatly expands the band of frequency response and improve the system robustness.