Adaptive PID control for angular motion tracking by linear Electrohydraulic Actuation

摘要

Angular motion tracking of a link mechanism has been accomplished through a high-power linear actuation with multiple nonlinearities in an electrohydraulic system. For achieving precise control regardless of wide variations in demands and disturbances, an adaptive PID controller has been formulated. The convergence of the controller has been established by suitable Lyapunov function definition. Real-time experiments have been carried out to confirm the acceptance of the controller design. In comparison to a non-adaptive PID controller, the designed adaptive PID has yielded superior response. The experiments pertain to demands up to 9.5Hz with 8MPa relief valve setting.