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Adaptive robust dead-zone compensation control of electro-hydraulic servo systems with load disturbance rejection

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Abstract

A backstepping method based adaptive robust dead-zone compensation controller is proposed 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 incorporated in the EHSS 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.

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Authors and Affiliations

  1. Key Laboratory of Intelligent Control and Decision of Complex Systems, School of Automation, Beijing Institute of Technology, Beijing, 100081, China

    Yudong He, Junzheng Wang & Renjian Hao

Authors
  1. Yudong He
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  2. Junzheng Wang
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  3. Renjian Hao
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Correspondence to Yudong He.

Additional information

This paper was supported by Program for New Century Excellent Talents in University (NCET-12-0049) and Beijing Natural Science Foundation (4132034).

This paper was recommended for publication by Editor ZHANG Jifeng.

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He, Y., Wang, J. & Hao, R. Adaptive robust dead-zone compensation control of electro-hydraulic servo systems with load disturbance rejection. J Syst Sci Complex 28, 341–359 (2015). https://doi.org/10.1007/s11424-014-2243-5

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  • DOI: https://doi.org/10.1007/s11424-014-2243-5

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