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Tracking differentiator based back-stepping control for valve-controlled hydraulic actuator system.

Chengwen Wang1, Xinhao Ji2, Zhenyang Zhang2

  • 1College of Mechanical and Vehicle Engineering, Taiyuan University of technology, Taiyuan, 030024, China; State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China.

ISA Transactions
|March 2, 2021
PubMed
Summary
This summary is machine-generated.

This study introduces a tracking differentiator (TD) based back-stepping controller to solve the "explosion of terms" problem in complex control systems. The novel method simplifies implementation and maintains control performance, verified through hydraulic robot arm experiments.

Keywords:
Back-stepping designExplosion of complexityHydraulic position controllerNonlinear controlTracking differentiator (TD)

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Area of Science:

  • Control Systems Engineering
  • Robotics
  • Nonlinear Control Theory

Background:

  • The back-stepping design method is prevalent for high-performance tracking control.
  • A significant challenge, known as the "explosion of terms" problem, arises due to increasing model order, complicating controller design.
  • Existing methods often involve complex analytical expressions for derivative calculations.

Purpose of the Study:

  • To propose a novel back-stepping controller design that mitigates the "explosion of terms" problem.
  • To simplify the implementation complexity of back-stepping controllers.
  • To analyze the impact of derivative approximation on control performance and stability.

Main Methods:

  • A tracking differentiator (TD) is integrated into each recursive step of the back-stepping procedure.
  • The TD generates substitute derivative signals for intermediate control variables, avoiding complex analytical calculations.
  • Lyapunov methods are employed for theoretical stability analysis.

Main Results:

  • The proposed TD-based back-stepping controller significantly reduces implementation complexity.
  • The discrepancies between approximated and actual derivatives are analyzed for their effect on control performance.
  • Experimental validation on a hydraulic robot arm position servo system demonstrates effective control.

Conclusions:

  • The tracking differentiator-based back-stepping controller effectively addresses the "explosion of terms" problem.
  • The method offers a practical and simplified approach to designing complex control systems.
  • Experimental results confirm the controller's efficacy and robustness in real-world applications.