Robust Adaptive Backstepping Control Design for a Nonlinear Hydraulic-Mechanical System

Martin Choux, Hamid Reza Karimi, Geir Hovland, Michael Rygaard Hansen, Morten Ottestad, Mogens Blanke

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Abstract

The complex dynamics that characterize hydraulic systems make it difficult for the control design to achieve prescribed goals in an efficient manner. In this paper, we present the design and analysis of a robust nonlinear controller for a nonlinear hydraulic-mechanical (NHM) system. The system consists of an electrohydraulic servo valve and two hydraulic cylinders. Specifically, by considering a part of the dynamics of the NHM system as a norm-bounded uncertainty, two adaptive controllers are developed based on the backstepping technique that ensure the tracking error signals asymptotically converge to zero despite the uncertainties in the system according to the Barbalat lemma. The resulting controllers are able to take into account the interval uncertainties in Coulomb friction parameters and in the internal leakage parameters in the cylinders. Two adaptation laws are obtained by using the Lyapunov functional method and inequality techniques. Simulation results demonstrate the performance and feasibility of the proposed method.
Original languageEnglish
Title of host publicationProceedings of 48th IEEE Conference on Decision and Control
PublisherIEEE
Publication date2009
Pages2460-2467
ISBN (Print)978-1-4244-3871-6
DOIs
Publication statusPublished - 2009
Event48th IEEE Conference on Decision and Control - Shanghai, China
Duration: 1 Jan 2009 → …

Conference

Conference48th IEEE Conference on Decision and Control
CityShanghai, China
Period01/01/2009 → …

Cite this

Choux, M., Karimi, H. R., Hovland, G., Hansen, M. R., Ottestad, M., & Blanke, M. (2009). Robust Adaptive Backstepping Control Design for a Nonlinear Hydraulic-Mechanical System. In Proceedings of 48th IEEE Conference on Decision and Control (pp. 2460-2467). IEEE. https://doi.org/10.1109/CDC.2009.5400438