title: Parametric adaptive estimation and backstepping control of electro-hydraulic actuator with decayed memory filter.
abstract: Some unknown parameter estimation of electro-hydraulic system (EHS) should be considered in hydraulic controller design due to many parameter uncertainties in practice. In this study, a parametric adaptive backstepping control method is proposed to improve the dynamic behavior of EHS under parametric uncertainties and unknown disturbance (i.e., hydraulic parameters and external load). The unknown parameters of EHS model are estimated by the parametric adaptive estimation law. Then the recursive backstepping controller is designed by Lyapunov technique to realize the displacement control of EHS. To avoid explosion of virtual control in traditional backstepping, a decayed memory filter is presented to re-estimate the virtual control and the dynamic external load. The effectiveness of the proposed controller has been demonstrated by comparison with the controller without adaptive and filter estimation. The comparative experimental results in critical working conditions indicate the proposed approach can achieve better dynamic performance on the motion control of Two-DOF robotic arm.
authors.affiliation: School of Aeronautics and Astronautics, University of Electronic Science and Technology of China, Chengdu, 611731, China; The State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou, China. Electronic address: guoqinguestc@uestc.edu.cn.
authors.forename: Qing
authors.initials: Q
authors.lastname: Guo
authors.affiliation: School of Aeronautics and Astronautics, University of Electronic Science and Technology of China, Chengdu, 611731, China. Electronic address: sunping0944@163.com.
authors.forename: Ping
authors.initials: P
authors.lastname: Sun
authors.affiliation: School of Aeronautics and Astronautics, University of Electronic Science and Technology of China, Chengdu, 611731, China. Electronic address: yinjm1028@163.com.
authors.forename: Jing-Min
authors.initials: JM
authors.lastname: Yin
authors.affiliation: Center for Power Transmission and Motion Control, Department of Mechanical Engineering, University of Bath, Bath BA2 7AY, UK. Electronic address: ty267@bath.ac.uk.
authors.forename: Tian
authors.initials: T
authors.lastname: Yu
authors.affiliation: School of Mechatronics Engineering, University of Electronic Science and Technology of China, 611731 Chengdu, China. Electronic address: jdan2002@uestc.edu.cn.
authors.forename: Dan
authors.initials: D
authors.lastname: Jiang
keywords: Backstepping control; Decayed memory filter; Electro-hydraulic system; Parametric adaptive estimation