Incomplete differentiation-based improved adaptive backstepping integral sliding mode control for position control of
Xuanju Dang1, Xiaoan Zhao1, Chao Dang1
1School of Electronic and Automation, Guilin University of Electronic Technology, Guilin, Guangxi 541004, China.
ISA Transactions
|October 16, 2020
Summary
This study introduces an improved adaptive control method for hydraulic servo systems to enhance tracking accuracy. The novel approach effectively compensates for nonlinear friction, significantly improving system performance.
Area of Science:
- Control Systems Engineering
- Fluid Power Systems
- Robotics and Automation
Background:
- Hydraulic servo systems are crucial for precise motion control.
- Non-structural uncertainties, like nonlinear friction, degrade tracking accuracy.
- Existing control methods struggle to fully address these uncertainties.
Purpose of the Study:
- To propose a novel control strategy for hydraulic servo systems to overcome nonlinear friction.
- To enhance the tracking accuracy of hydraulic servo systems.
- To introduce an incomplete differential into adaptive control for improved robustness.
Main Methods:
- Development of an incomplete differential-based improved adaptive backstepping integral sliding mode control (ID-BIABISMC).
- Integration of backstepping control, integral sliding mode, and friction compensation.
- Introduction of an incomplete differential into the adaptive update law to filter noise.
Main Results:
- The proposed ID-BIABISMC demonstrated superior tracking accuracy compared to traditional methods (ABC, ASMC, ABSMC, IABISMC).
- Experimental results showed high-precision tracking for sinusoidal and step signals.
- Achieved tracking accuracies of 0.005 mm for sinusoidal and 2.15 mm for step signals.
Conclusions:
- The ID-BIABISMC effectively compensates for nonlinear friction in hydraulic servo systems.
- The incomplete differential successfully suppresses interference from signal mutations.
- The proposed method offers a significant advancement in achieving high-accuracy position control for hydraulic systems.
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