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Nonlinear control for a class of hydraulic servo system
Hong Yu1, Zheng-jin Feng, Xu-yong Wang
1School of Mechanical Engineering, Shanghai Jiaotong University, Shanghai 200030, China. mailyu@sina.com.
Journal of Zhejiang University. Science
|October 21, 2004
Summary
This study introduces a robust controller for nonlinear hydraulic servo systems. The new backstepping design ensures accurate tracking and system stability despite model uncertainties and disturbances.
Area of Science:
- Control Engineering
- Fluid Power Systems
- Nonlinear Dynamics
Background:
- Hydraulic systems exhibit complex nonlinear dynamics, including non-smooth characteristics from valve operation and friction.
- Significant model uncertainties are inherent in hydraulic servo systems, complicating control design.
- Existing robust controllers can be complex to design and implement.
Purpose of the Study:
- To design a robust state-feedback controller for hydraulic servo systems.
- To ensure accurate tracking of desired signals and boundedness of all closed-loop signals.
- To achieve robust performance against nonlinearities and model uncertainties.
Main Methods:
- Employed the backstepping recursive design technique for controller synthesis.
- Designed a state-feedback controller to handle nonlinear dynamics and uncertainties.
- Formulated a disturbance attenuation inequality to quantify robustness.
Main Results:
- The designed controller enables the hydraulic servo system output to track a given signal with high accuracy.
- All signals within the closed-loop system are proven to remain bounded.
- The controller satisfies a disturbance attenuation inequality, demonstrating robustness.
Conclusions:
- The proposed backstepping-based robust controller effectively addresses nonlinearities and uncertainties in hydraulic servo systems.
- This controller offers improved design simplicity and implementation suitability compared to prior methods.
- The controller ensures robust tracking performance and system stability.