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Adaptive Backstepping Control of an Electrohydraulic Actuator
Abstract
This paper presents an adaptive position control for a pump- controlled electrohydraulic actuator (EHA) based on an adaptive backstepping control scheme. The core feature of this paper is the combination of a modified backstepping algorithm with a special adaptation law to compensate all nonlinearities and uncertainties in EHA system. First of all, the mathematical model of the EHA is developed. The position control is then formulated using a modified backstepping technique and the uncertainties in hydraulic system are adapted by employing a special Lyapunov function. The control signal consists of an adaptive control signal to compensate the uncertainties and a simple robust structure to ensure the robustness corresponding to a bounded disturbance. Experimental results proved strongly the ability of the proposed control method.
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Cited by
Li, J., Ji, R., Liang, X., Ge, S. S., & Yan, H. (2022) · IEEE Transactions on Instrumentation and Measurement · doi:10.1109/tim.2022.3218574 · Cited by 659
Adaptive Fuzzy Practical Fixed-Time Tracking Control of Nonlinear Systems
Chen, M., Wang, H., & Liu, X. (2021) · IEEE Transactions on Fuzzy Systems · doi:10.1109/tfuzz.2019.2959972 · Cited by 405
Xu, Z., Sun, C., Hu, X., Liu, Q., & Yao, J. (2023) · IEEE Transactions on Industrial Electronics · doi:10.1109/tie.2023.3236114 · Cited by 113
Shi, C., Wang, X., Wang, S., Wang, J., & Tomovic, M. M. (2015) · Aerospace Science and Technology · doi:10.1016/j.ast.2015.09.012 · Cited by 83
Nonlinear Adaptive Robust Control of the Electro-Hydraulic Servo System
Feng, L., & Yan, H. (2020) · Applied Sciences · doi:10.3390/app10134494 · Cited by 51
Metadata
- Authors
- Ahn, K. K., Nam, D. N. C., & Jin, M.
- Venue
- IEEE/ASME Transactions on Mechatronics
- Published
- 2014-06
- Volume
- 19
- Issue
- 3
- Pages
- 987-995
- ISSN
- 1083-4435 (ISSN-L)
- 1941-014X
- OpenAlex
- W2085470933
- Cited by
- 321
- References
- 0
- FWCI
- 22.58
- Type
- journal article
- Language
- en
- Open access
- closed
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- Ahn, K. K., Nam, D. N. C., & Jin, M. (2014). Adaptive Backstepping Control of an Electrohydraulic Actuator. IEEE/ASME Transactions on Mechatronics. https://doi.org/10.1109/tmech.2013.2265312
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