Force Loading Tracking Control of an Electro-Hydraulic Actuator Based on a Nonlinear Adaptive Fuzzy Backstepping Control Scheme

“In literature [20], a nonlinear robust controller combined with an extended state observer using the backstepping method was presented for a hydraulic system with a position tracking controller.”

“In order to ensure the asymptotic tracking performance of a hydraulic rotary actuator, Yao [27] combined a robust integral of the sign of the error controller and an adaptive controller by employing the backstepping method with consideration of system uncertainties, such as parametric uncertainties and nonlinear frict…”

“Park [19] proposed a backstepping controller for synchronization of Genesio chaotic systems.”

“Su [22] proposed a constrained adaptive robust controller to stabilize the system amplitude with consideration of parameter uncertainties and external disturbances.”

“Prut and Suwat [17] designed a nonlinear controller to guarantee the force tracking performance of an electro-hydraulic servo system by employing the backstepping approach.”

“Wang [23] proposed a nonlinear adaptive control method for force loading tracking control of an electro-hydraulic load simulator in the presence of an actuator’s motion destabilization and dynamic model nonlinearity due to parameter uncertainties.”

“An offline designed feedback controller and an online adaptive compensator was designed for an electro-hydraulic force servo system in literature [15] to improve the force tracking performance with consideration of varying dynamics.”

“Alleyne and Liu [9] evaluated a common Proportional-Integral-Derivative (PID) controller for a particular force tracking control, which showed that this simple solution method is deficient for force tracking resulting from fundamental limitations of the control parameters.”

“Therefore, the EHFLS is extensively employed in civil engineering structures [4], automobile industry [5], seismic testing [6], and structural fatigue testing [7].”

“The nonlinear dynamic model of the EHFLS is given as follows [24].”

“In order to decrease a surplus force, a feedforward force control algorithm combined with a modified inverse model compensator and a velocity feedforward compensator is employed by Shen [14].”

“Backstepping technology is one of the most popular control schemes for nonlinear systems, which has been widely employed to ensure the global stability, tracking performances, and transient characteristics [16] based on Lyapunov function.”

“Therefore, the EHFLS is extensively employed in civil engineering structures [4], automobile industry [5], seismic testing [6], and structural fatigue testing [7].”

“Wang [26] proposed a robust adaptive backstepping controller (ABC) combined with a two-loops controller, which was designed by the backstepping technology to eliminate dynamic model nonlinearities, system coupling, fast time-varying characteristics, and great parameter uncertainties in atmospheric density.”

“Therefore, the EHFLS is extensively employed in civil engineering structures [4], automobile industry [5], seismic testing [6], and structural fatigue testing [7].”

“Paolo Mercorelli [34,35] dealt with an adaptive control strategy based on the resonance concept to minimize the regulation energy of a new generation of actuators for intake valves of the camless engines.”

“Kim [11] applied the quantitative feedback theory algorithm to improve force loading tracking performance of a dynamic road simulator, which was applicable to an uncertain hydraulic plant system.”

“An output feedback signal based on a nonlinear adaptive robust controller was presented in literature [28] to cope with adaptive robust control problem of an aircraft load emulator with high performance requirements in the presence of modeling errors, parameter uncertainties, and system nonlinearities.”

“Yao [18] proposed a high dynamic feedback linearization controller with the help of the backstepping technology to ensure an excellent tracking performance even with high-frequency tracking demand.”

“A sliding mode backstepping controller based on a fuzzy integral controller was designed in literature [29], in which a fuzzy control scheme is employed to ensure the displacement tracking performance.”

“In order to decrease a surplus force, a feedforward force control algorithm combined with a modified inverse model compensator and a velocity feedforward compensator is employed by Shen [14].”

“[30] used an extended fuzzy disturbance observer combined with a nonlinear cascade controller to achieve motion control with the high-performance of a hydraulic press.”

“[33] introduced a new meta-cognitive fuzzy-neural mode to construct the uncertain system dynamics, based on which an adaptive backstepping controller was proposed.”

“In order to decrease a surplus force, a feedforward force control algorithm combined with a modified inverse model compensator and a velocity feedforward compensator is employed by Shen [14].”

“o ever, inherent nonlinearities and para eters uncertainties in the E FLS ake the traditional control algorithms inaccessible simultaneously, such as servo-valve flow-pressure nonlinearity, actuator frictions, and spherical joint clearances [8].”

“[31] in order to perfect the torque tracking performance of the electric load simulator.”

“[25] to cope with the negative influences of parameter uncertainties of a human–machine interaction system to minimize the interaction force external disturbance was given.”

“Paolo Mercorelli [34,35] dealt with an adaptive control strategy based on the resonance concept to minimize the regulation energy of a new generation of actuators for intake valves of the camless engines.”