Adaptive Backstepping Design of Electro-hydraulic Actuator based on State Feedback Control

被引：0
|
作者：
Guo, Qing [1 ]
Yu, Tian [3 ]
Jiang, Dan [2 ]
机构：
[1] Univ Elect Sci & Technol China, Sch Aeronaut & Astronaut, Chengdu 611731, Peoples R China
[2] Univ Elect Sci & Technol China, Sch Mechatron Engn, Chengdu 611731, Peoples R China
[3] Univ Bath, Dept Mech Engn, Ctr Power Transmiss & Mot Control, Bath BA2 7AY, Avon, England
来源：
PROCEEDINGS OF 2015 INTERNATIONAL CONFERENCE ON FLUID POWER AND MECHATRONICS - FPM 2015 | 2015年
关键词：
parametric adaptive estimation; electro-hydraulic system; backstepping control; robotic arm; ROBUST-CONTROL; SYSTEMS;
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
In this paper, a parametric adaptive backstepping control is presented to improve the dynamic responses of Electrohydraulic system under unknown parameters and dynamic external loads. Firstly, 6 unknown parameters is estimated by parametric adaptive estimation law in nonlinear model of EHS. Secondly, the backstepping controller is designed by Lyapunov method to realize the position tracking control of cylinder and guarantee the system state error asymptotic convergence. The experimental results are demonstrated on 2-DOF robotic arm to validate the effectiveness of the proposed controller.
引用
收藏
页码：888 / 891
页数：4
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