High-precision motion servo control of double-rod electro-hydraulic actuators with exact tracking performance

Guichao Yang; Jianyong Yao

doi:10.1016/j.isatra.2020.03.029

High-precision motion servo control of double-rod electro-hydraulic actuators with exact tracking performance

ISA Trans. 2020 Aug:103:266-279. doi: 10.1016/j.isatra.2020.03.029. Epub 2020 Apr 3.

Authors

Guichao Yang¹, Jianyong Yao²

Affiliations

¹ School of Mechanical and Power Engineering, Nanjing Tech University, Nanjing 211816, China. Electronic address: merryyang.njtech@gmail.com.
² School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China. Electronic address: jerryyao.buaa@gmail.com.

PMID: 32284153
DOI: 10.1016/j.isatra.2020.03.029

Abstract

Comprehensive effects coming from measurement noises, matched and mismatched uncertainties make it difficult for electro-hydraulic servo systems to further attain high-accuracy tracking level. The existing control strategies often consider these control issues one-sidedly. Accordingly, we develop two different control strategies combining integral robust control and direct adaptive control for high-precision position control of double-rod electro-hydraulic systems to account for these control issues concurrently. Specially, by skillfully introducing a filtered error function, a novel desired compensation adaptive control framework will be integrated into the controller design to reduce environmental noises. Moreover, an improved noise-alleviation method is proposed to achieve high-accuracy calculation of the standard sign function in nonlinear integral robust terms. Furthermore, each of the control algorithms can guarantee asymptotic position tracking performance in general. Comparative experiments and simulation results show the evident superiorities of the developed control strategies.

Keywords: Adaptive control; Desired compensation; Electro-hydraulic servo systems; Integral robust control; Matched and mismatched uncertainties; Motion control.