Nonlinear Adaptive Robust Force Control of Hydraulic Load Simulator

• Published in: Chinese journal of aeronautics Vol. 25; no. 5; pp. 766 - 775
• Main Authors: YAO, Jianyong, JIAO, Zongxia, YAO, Bin, SHANG, Yaoxing, DONG, Wenbin
• Format: Journal Article
• Language: English
• Published: Elsevier Ltd 01.10.2012
• Subjects: adaptive control; Adaptive control systems; Asymptotic properties; Computational fluid dynamics; Control systems; Fluid flow; hydraulic actuators; hydraulic load simulator; Hydraulics; Lyapunov functions; nonlinear control; Nonlinearity; robust control; Tracking; 不确定性; 液压负载模拟器; 渐近性质; 瞬态性能; 自适应力控制; 自适应控制器; 非线性特性; 鲁棒控制器; hydraulic load simulator; adaptive control; robust control; hydraulic actuators; nonlinear control; Lyapunov functions
• ISSN: 1000-9361
• DOI: 10.1016/S1000-9361(11)60443-3

This paper deals with the high performance force control of hydraulic load simulator. Many previous works for hydraulic force control are based on their linearization equations, but hydraulic inherent nonlinear properties and uncertainties make the conven- tional feedback proportional-integral-derivative control not yield to high-performance requirements. In this paper, a nonlinear system model is derived and linear parameterization is made for adaptive control. Then a discontinuous projection-based nonlin- ear adaptive robust force controller is developed for hydraulic load simulator. The proposed controller constructs an asymptoti- cally stable adaptive controller and adaptation laws, which can compensate for the system nonlinearities and uncertain parame- ters. Meanwhile a well-designed robust controller is also developed to cope with the hydraulic system uncertain nonlinearities. The controller achieves a guaranteed transient performance and final tracking accuracy in the presence of both parametric uncer- tainties and uncertain nonlinearities; in the absence of uncertain nonlinearities, the scheme also achieves asymptotic tracking performance. Simulation and experiment comparative results are obtained to verify the high-performance nature of the proposed control strategy and the tracking accuracy is greatly improved.