Adaptive robust cross-coupling position synchronization control of a hydraulic press slider-leveling

Area of Science:

• Control Engineering
• Robotics
• Mechatronics

Background:

• Hydraulic systems require precise synchronized motion for applications like slider-leveling.
• Existing control methods struggle with parameter uncertainties and external disturbances.
• Achieving high-performance trajectory tracking in multi-axis systems remains a challenge.

Purpose of the Study:

• To develop and validate an adaptive robust cross-coupling control (ARC+CCC) strategy for four-axis hydraulic slider-leveling systems.
• To improve the synchronized motion trajectory tracking performance.
• To address parameter estimation errors, unmodeled dynamics, and disturbances.

Main Methods:

• Integration of a nonlinear adaptive robust control (ARC) controller with a cross-coupling control (CCC) controller.
• Design of a discontinuous projection-based ARC controller.
• Implementation of a robust control method with dynamic compensation and fast adaptation.
• Stability analysis using Lyapunov theory.

Main Results:

• The proposed ARC controller achieved a maximum single-axis tracking error within -0.06 mm.
• The integrated ARC+CCC controller demonstrated a maximum inter-axis synchronization error within ±0.1 mm.
• The control system exhibited asymptotic convergence of trajectory tracking errors to zero, confirming stability and good transient behavior.

Conclusions:

• The proposed ARC+CCC control scheme effectively enhances synchronization motion performance in four-axis hydraulic systems.
• Parameter adaptation and robust control laws successfully mitigate uncertainties and disturbances.
• The strategy guarantees excellent trajectory tracking and system stability.