Adaptive backstepping controller for electro-hydraulic servo system with nonlinear uncertain parameters
LIN Hao
LI En
LIANG Zi-ze
Abstract：An adaptive backstepping control method with an integral-type Lyapunov function is designed for an electro-hydraulic servo system with nonlinear uncertain parameters. Firstly, the integral-type Lyapunov function is defined to transform the nonlinear parameters to the linear parameters. Then, we design the adaptive backstepping controller with the nonlinear-damping which compensates for external disturbance. Based on Lyapunov method, parameter update laws are given. And sufficiently smooth projection operators are used to conquer the effects of the parameter-drift. Finally, a co-simulation platform using AMESim and Matlab is build to test the performace of the desigend controller. By contrast, PID and the adaptive backstepping controller without considering nonlinear parameters are designed and simulated, respectively. The simulation results show that the designed adaptive backstepping controller using nonlinear parameter adaption laws gives a satisfactory tracking performance and can compensate for the nonlinear uncertain parameters.
Keywords：electro-hydraulic servo systemadaptive backsteppingnonlinear uncertain parameterparameter-driftsufficiently smooth projection operator
Publication Date：2016-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：8( 181-188 )