Adaptive robust output-feedback motion control of hydraulic actuators

摘要

Most previous advanced motion control of hydraulic actuators used full-state feedback control techniques. However, in many cases, only position feedback is available, and thus, there are imperious demands for output-feedback control for hydraulic systems. This paper firstly transforms a hydraulic model into an output feedback-dependent form. Thus, the K-filter can be employed, which provides exponentially convergent estimates of the unmeasured states. Furthermore, this observer has an extended filter structure so that online parameter adaptation can be utilized. In addition, it is a well-known fact that any realistic model of a hydraulic system suffers from significant extent of uncertain nonlinearities and parametric uncertainties. This paper constructs an adaptive robust controller with backstepping techniques, which is able to take into account not only the effect of parameter variations coming from various hydraulic parameters but also the effect of hard-to-model nonlinearities such as uncompensated friction forces, modeling errors, and external disturbances. Moreover, estimation errors that come from initial state estimates and uncompensated disturbances are dealt with via certain robust feedback at each step of the adaptive robust backstepping design. After that, a detailed stability analysis for the output-feedback closed-loop system is scrupulously checked, which shows that all states are bounded and that the controller achieves a guaranteed transient performance and final tracking accuracy in general and asymptotic output tracking in the presence of parametric uncertainties only. Extensive experimental results are obtained for a hydraulic actuator system and verify the high-performance nature of the proposed output-feedback control strategy.