Indirect adaptive robust control of electro-hydraulic systems driven by single-rod hydraulic actuator

摘要

This paper presents an indirect adaptive robust control (IARC) of electro-hydraulic systems driven by single-rod hydraulic actuators. Unlike the tracking-performance-oriented direct adaptive robust control (DARC) algorithm, in addition to good output tracking performance, the IARC also focuses on accurate parameter estimates for secondary purposes such as machine health monitoring and prognostics. Accurate parameter estimates are obtained through parameter estimation algorithms based on the plant dynamics rather than the tracking error dynamics, while robust stability and performance are achieved through adaptive robust control. Comparative experimental results show that the proposed IARC achieves good tracking performance and accurate parameter estimation.