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

doi:10.1109/CDC.2009.5400438

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

University of Agder

Research output: Chapter in Book/Report/Conference proceeding › Article in proceedings › Research › peer-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 language	English
Title of host publication	Proceedings of 48th IEEE Conference on Decision and Control
Publisher	IEEE
Publication date	2009
Pages	2460-2467
ISBN (Print)	978-1-4244-3871-6
DOIs	https://doi.org/10.1109/CDC.2009.5400438
Publication status	Published - 2009
Event	48th IEEE Conference on Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference - Shanghai, China Duration: 16 Dec 2009 → 18 Dec 2009 http://www.ieeecss.org/CAB/conferences/cdc2009/index.php

Conference

Conference	48th IEEE Conference on Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference
Country/Territory	China
City	Shanghai
Period	16/12/2009 → 18/12/2009
Internet address	http://www.ieeecss.org/CAB/conferences/cdc2009/index.php

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@inproceedings{4641c06c93b14c4b88488516bc398520,

title = "Robust Adaptive Backstepping Control Design for a Nonlinear Hydraulic-Mechanical System",

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.",

author = "Martin Choux and Karimi, \{Hamid Reza\} and Geir Hovland and Hansen, \{Michael Rygaard\} and Morten Ottestad and Mogens Blanke",

year = "2009",

doi = "10.1109/CDC.2009.5400438",

language = "English",

isbn = "978-1-4244-3871-6",

pages = "2460--2467",

booktitle = "Proceedings of 48th IEEE Conference on Decision and Control",

publisher = "IEEE",

address = "United States",

note = "48th IEEE Conference on Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference, CDC/CCC 2009 ; Conference date: 16-12-2009 Through 18-12-2009",

url = "http://www.ieeecss.org/CAB/conferences/cdc2009/index.php",

}

Choux, M, Karimi, HR, Hovland, G, Hansen, MR, 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. IEEE, pp. 2460-2467, 48th IEEE Conference on Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference, Shanghai, China, 16/12/2009. https://doi.org/10.1109/CDC.2009.5400438

TY - GEN

T1 - Robust Adaptive Backstepping Control Design for a Nonlinear Hydraulic-Mechanical System

AU - Choux, Martin

AU - Karimi, Hamid Reza

AU - Hovland, Geir

AU - Hansen, Michael Rygaard

AU - Ottestad, Morten

AU - Blanke, Mogens

PY - 2009

Y1 - 2009

N2 - 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.

AB - 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.

U2 - 10.1109/CDC.2009.5400438

DO - 10.1109/CDC.2009.5400438

M3 - Article in proceedings

SN - 978-1-4244-3871-6

SP - 2460

EP - 2467

BT - Proceedings of 48th IEEE Conference on Decision and Control

PB - IEEE

T2 - 48th IEEE Conference on Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference

Y2 - 16 December 2009 through 18 December 2009

ER -

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

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