Position tracking control of electro-hydrostatic actuators via adaptive finite-time backstepping and state
Van Du Phan1, Hung Le Nguyen2, Van Chuong Le1
1School of Engineering and Technology, Vinh University, Nghe An, 43100, Vietnam.
Abstract:
In this paper, the adaptive finite-time backstepping control approach is proposed for electro-hydrostatic actuator with symmetrical cylinder (EHSC) under the unmeasured states and disturbances. The state observer (SOB) is constructed to estimate the unmeasured states. To address the unknown dynamic system during design control procedure, the adaptive law based on the maximum norm of the radial basis function neural network (NN) is introduced for EHSC. In addition, the adaptive finite-time backstepping control scheme using SOB is synthesized to enrich the tracking performance of the EHSC. It is exhibited by theoretical Lyapunov analysis and backstepping approach that the finite-time stability is guaranteed under unmeasured states and disturbances. Ultimately, both simulation and experiment results are conducted to further confirm the workability of the suggested control algorithm.
More Related Videos
09:01Gain-compensation Methodology for a Sinusoidal Scan of a Galvanometer Mirror in Proportional-Integral-Differential Control Using Pre-emphasis Techniques
Published on: April 4, 2017
06:58A Structured Rehabilitation Protocol for Improved Multifunctional Prosthetic Control: A Case Study
Published on: November 6, 2015
Related Concept Videos
Linear Approximation in Time Domain
For a simple pendulum with a mass evenly distributed along its length and the center of mass located at half the pendulum's length,...
PI Controller: Design
Controller Configurations
Control-system compensation involves various configurations, most commonly series or cascade compensation, in which the controller...
Control Systems
At the heart...
PD Controller: Design
Designing a continuous-data controller requires selecting and linking components like adders and integrators, which are fundamental in Proportional,...
Feedback control systems
Linear feedback systems are theoretical models that simplify analysis and design. These systems operate under the principle that their output is directly proportional to their input within certain ranges. For instance, an amplifier in a control system behaves linearly as long as the input signal remains within a specific range. However, most physical systems exhibit inherent nonlinearity...
