Dawei Ma

Extended-State-Observer-Based Output Feedback Nonlinear Robust Control of Hydraulic Systems With Backstepping

In this paper, an output feedback nonlinear control is proposed for a hydraulic system with mismatched modeling uncertainties in which an extended state observer (ESO) and a nonlinear robust controller are synthesized via the backstepping method. The ESO is designed to estimate not only the unmeasured system states but also the modeling uncertainties. The nonlinear robust controller is designed to stabilize the closed-loop system. The proposed controller accounts for not only the nonlinearities (e.g., nonlinear flow features of servovalve), but also the modeling uncertainties (e.g., parameter derivations and unmodeled dynamics). Furthermore, the controller theoretically guarantees a prescribed tracking transient performance and final tracking accuracy, while achieving asymptotic tracking performance in the absence of time-varying uncertainties, which is very important for high-accuracy tracking control of hydraulic servo systems. Extensive comparative experimental results are obtained to verify the high-performance nature of the proposed control strategy.

High-Accuracy Tracking Control of Hydraulic Rotary Actuators With Modeling Uncertainties

Structured and unstructured uncertainties are the main obstacles in the development of advanced controllers for high-accuracy tracking control of hydraulic servo systems. For the structured uncertainties, nonlinear adaptive control can be employed to achieve asymptotic tracking performance. But modeling errors, such as nonlinear frictions, always exist in physical hydraulic systems and degrade the tracking accuracy. In this paper, a robust integral of the sign of the error controller and an adaptive controller are synthesized via backstepping method for motion control of a hydraulic rotary actuator. In addition, an experimental internal leakage model of the actuator is built for precise model compensation. The proposed controller accounts for not only the structured uncertainties (i.e., parametric uncertainties), but also the unstructured uncertainties (i.e., nonlinear frictions). Furthermore, the controller theoretically guarantees asymptotic tracking performance in the presence of various uncertainties, which is very important for high-accuracy tracking control of hydraulic servo systems. Extensive comparative experimental results are obtained to verify the high-accuracy tracking performance of the proposed control strategy.

Adaptive Robust Control of DC Motors With Extended State Observer

Structured and unstructured uncertainties always exist in physical servo systems and degrade their tracking accuracy. In this paper, a practical method named adaptive robust control with extended state observer (ESO) is synthesized for high-accuracy motion control of a dc motor. The proposed controller accounts for not only the structured uncertainties (i.e., parametric uncertainties) but also the unstructured uncertainties (i.e., nonlinear friction, external disturbances, and/or unmodeled dynamics). Adaptive control for the structured uncertainty and ESO for the unstructured uncertainty are designed for compensating them respectively and integrated together via a feedforward cancellation technique. The global robustness of the controller is guaranteed by a feedback robust law. Furthermore, the controller theoretically guarantees a prescribed tracking performance in the presence of various uncertainties, which is very important for high-accuracy control of motion systems. Extensive comparative experimental results are obtained to verify the high-performance nature of the proposed control strategy.

A Practical Nonlinear Adaptive Control of Hydraulic Servomechanisms With Periodic-Like Disturbances

When performing periodic tasks, the modeling uncertainties will also present some periodicity. In this paper, by appropriately applying Fourier series approximation, a practical nonlinear adaptive repetitive controller is proposed for motion control of hydraulic servomechanisms to learn and compensate the periodic modeling uncertainties. Robust control term is also constructed to effectively attenuate the effect of approximation errors, and thus asymptotic tracking performance is achieved. In addition, robustness is also discussed with respect to other nonperiodic disturbances, which reveals a guaranteed transient performance and steady-state tracking accuracy can be achieved by the proposed controller with a practical assumption. Compared to the traditional repetitive controllers, the major advantage of this controller is that it not only requires little exact knowledge of the system dynamic structure or its parameters, but also greatly reduces the noise sensitivity and heavy memory requirements. Comparative experimental results are obtained to verify the high accuracy tracking performance of the proposed control strategy.

RISE-Based Precision Motion Control of DC Motors With Continuous Friction Compensation

Continuous friction compensation along with other modeling uncertainties is concerned in this paper, to result in a continuous control input, which is more suitable for controller implementation. To accomplish this control task, a practical method, named as robust integral of the sign of the error controller, is synthesized with a continuous differentiable friction model for high-accuracy motion control of a dc motor. To reduce the noise sensitivity and further improve the tracking accuracy, a desired compensation technique is employed in the proposed controller, in which the model compensation term depends on the reference trajectory only, and its global stability is guaranteed by a proper robust feedback law. Furthermore, the proposed controller theoretically guarantees an asymptotic output tracking performance even in the presence of modeling uncertainties, which is very important for high-accuracy control of motion systems. Comparative experimental results are obtained for the motion control of a dc motor drive system to verify the high-performance nature of the proposed control strategy.

High dynamic adaptive robust control of load emulator with output feedback signal

Abstract This paper is concerned with the high performance adaptive robust control problem for an aircraft load emulator (LE). High dynamic capability is a key performance index of load emulator. However, physical load emulators exist a lot of nonlinearities and modeling uncertainties, which are the main obstacles for achieving high performance of load emulator. To handle the modeling uncertainty and achieve adjustable model-based compensation, firstly, the mathematical model of the load emulator is built, and then a nonlinear adaptive robust controller only with output feedback signal is proposed to improve the tracking accuracy and dynamic response capability. The controller is constructed based on the adaptive robust control framework with necessary design modifications required to accommodate uncertainties and nonlinearities of hydraulic load emulator. In this approach, nonlinearities are canceled by output feedback signal; and modeling errors, including parametric uncertainties and uncertain nonlinearities, are dealt with adaptive control and robust control respectively. The resulting controller guarantees a prescribed disturbance attenuation capability in general while achieving asymptotic output tracking in the absence of time-varying uncertainties. Experimental results are obtained to verify the high performance nature of the proposed control strategy, especially the high dynamic capability.

Robust adaptive asymptotic tracking control of a class of nonlinear systems with unknown input dead-zone

Abstract This paper considers the tracking control for a class of uncertain single-input and single-output (SISO) nonlinear strict-feedback systems with unknown input dead-zone nonlinearity, parametric uncertainties and unknown bounded disturbances. By constructing a smooth dead-zone inverse and applying the backstepping recursive design technique, a robust adaptive backstepping controller is proposed, in which adaptive control law is synthesized to handle parametric uncertainties and a novel robust control law to attenuate disturbances. The robust control law is developed by integrating a sufficiently smooth positive integral function at each step of the backstepping design procedure. In addition, a smooth projection mapping is used and assumptions are made that the prior knowledge of the extents of parametric uncertainties and the variation ranges of the bounds of disturbances is known to facilitate the backstepping recursive design. However, the exact bounds of disturbances are not required. The major feature of the proposed controller is that it can theoretically guarantee asymptotic output tracking performance, in spite of the presence of unknown input dead-zone nonlinearity, various parametric uncertainties and unknown bounded disturbances via Lyapunov stability analysis. Comparative simulation results are obtained to illustrate the effectiveness of the proposed control strategy.

Robust adaptive precision motion control of hydraulic actuators with valve dead-zone compensation☆

This paper addresses the high performance motion control of hydraulic actuators with parametric uncertainties, unmodeled disturbances and unknown valve dead-zone. By constructing a smooth dead-zone inverse, a robust adaptive controller is proposed via backstepping method, in which adaptive law is synthesized to deal with parametric uncertainties and a continuous nonlinear robust control law to suppress unmodeled disturbances. Since the unknown dead-zone parameters can be estimated by adaptive law and then the effect of dead-zone can be compensated effectively via inverse operation, improved tracking performance can be expected. In addition, the disturbance upper bounds can also be updated online by adaptive laws, which increases the controller operability in practice. The Lyapunov based stability analysis shows that excellent asymptotic output tracking with zero steady-state error can be achieved by the developed controller even in the presence of unmodeled disturbance and unknown valve dead-zone. Finally, the proposed control strategy is experimentally tested on a servovalve controlled hydraulic actuation system subjected to an artificial valve dead-zone. Comparative experimental results are obtained to illustrate the effectiveness of the proposed control scheme.

Adaptive Control of Input Delayed Uncertain Nonlinear Systems With Time-Varying Output Constraints

This paper focuses on the tracking control of a class of uncertain nonlinear systems with consideration of both time-varying input delay and output constraints. By introducing an auxiliary signal, which is based on the finite integral of the past control values in the design procedure, an adaptive controller is proposed to compensate for the effect of input delay and to handle various uncertainties. Meanwhile, an asymmetric time-varying barrier Lyapunov function is employed in the controller design to ensure the output constraint satisfaction. The stability analysis utilizing Lyapunov-Krasovskii functionals reveals that the proposed adaptive controller guarantees a uniformly ultimately bounded tracking performance and the time-varying output constraints are never violated. Two simulation examples are given to verify the effectiveness of the proposed control scheme.