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

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Abstract

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.

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Authors and Affiliations

  1. School of Mechanical Engineering, Graduate School, University of Ulsan, 93, Daehak-ro, Nam-gu, Ulsan, 44610, Republic of Korea

    Nguyen Minh Tri

  2. School of Mechanical Engineering, University of Ulsan, 93, Daehak-ro, Nam-gu, Ulsan, 44610, Republic of Korea

    Dang Xuan Ba & Kyoung Kwan Ahn

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  1. Nguyen Minh Tri
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  2. Dang Xuan Ba
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  3. Kyoung Kwan Ahn
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Correspondence to Kyoung Kwan Ahn.

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Tri, N.M., Ba, D.X. & Ahn, K.K. A Gain-Adaptive Intelligent Nonlinear Control for an Electrohydraulic Rotary Actuator. Int. J. Precis. Eng. Manuf. 19, 665–673 (2018). https://doi.org/10.1007/s12541-018-0080-5

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