Adaptive Robust Dead-Zone Compensation Control of Electro-Hydraulic Servo Systems with Load Disturbance Rejection

• Published in: Journal of systems science and complexity 2015-04, Vol.28 (2), p.341-359
• Main Authors: He, Yudong, Wang, Junzheng, Hao, Renjian
• Format: Article
• Language: English
• Subjects: Complex Systems; Control; Mathematics; Mathematics and Statistics; Mathematics of Computing; Operations Research/Decision Theory; Statistics; Systems Theory; 不确定参数; 变负载; 扰动抑制; 死区补偿器; 电液伺服系统; 自适应鲁棒控制器; 补偿控制器; 鲁棒自适应
• ISSN: 1009-6124; 1559-7067
• DOI: 10.1007/s11424-014-2243-5

A backstepping method based adaptive robust dead-zone compensation controller is pro- posed for the electro-hydraulic servo systems （EHSSs） with unknown dead-zone and uncertain system parameters. Variable load is seen as a sum of a constant and a variable part. The constant part is regarded as a parameter of the system to be estimated real time. The variable part together with the friction are seen as disturbance so that a robust term in the controller can be adopted to reject them. Compared with the traditional dead-zone compensation method, a dead-zone compensator is incor- porated in the EH$S without constructing a dead-zone inverse. Combining backstepping method, an adaptive robust controller （ARC） with dead-zone compensation is formed. An easy-to-use ARC tuning method is also proposed after a further analysis of the ARC structure. Simulations show that the proposed method has a splendid tracking performance, all the uncertain parameters can be estimated, and the disturbance has been rejected while the dead-zone term is well estimated and compensated.