A Gain-Adaptive Intelligent Nonlinear Control for an Electrohydraulic Rotary Actuator

This paper introduces an effective approach for trajectory-tracking control of an electrohydraulic rotary actuator (EHRA). The key feature of this control approach is to utilize a gain-adaptive fuzzy sliding mode control technique to realize the control objective wherein the mathematical model of th...

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Bibliographic Details
Published in:International journal of precision engineering and manufacturing 2018-05, Vol.19 (5), p.665-673
Main Authors: Tri, Nguyen Minh, Ba, Dang Xuan, Ahn, Kyoung Kwan
Format: Article
Language:English
Subjects:
Adaptive control
Engineering
Feasibility studies
Fuzzy control
Fuzzy systems
Hydraulic control
Industrial and Production Engineering
Materials Science
Nonlinear control
Regular Paper
Robustness (mathematics)
Sliding mode control
System dynamics
Tracking control
Trajectory control
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Summary:This paper introduces an effective approach for trajectory-tracking control of an electrohydraulic rotary actuator (EHRA). The key feature of this control approach is to utilize a gain-adaptive fuzzy sliding mode control technique to realize the control objective wherein the mathematical model of the system dynamics does not need to be known exactly. Firstly, a state space form of the system model is reviewed. Secondly, an adaptive sliding mode modifier is constructed to derive an equivalent control signal while an additional fuzzy tuning scheme is employed to maintain the system robustness. Convergence of the closed loop system is then ensured by using Lyapunov analyses. Finally, effectiveness and feasibility of the proposed control method are confirmed through three experimental cases in different working conditions.
ISSN:2234-7593
2005-4602
DOI:10.1007/s12541-018-0080-5