Precision motion control for electro-hydraulic axis systems under unknown time-variant parameters and disturbances

Abstract

This article focuses on asymptotic precision motion control for electro-hydraulic axis systems under unknown time-variant parameters, mismatched and matched disturbances. Different from the traditional adaptive results that are applied to dispose of unknown constant parameters only, the unique feature is that an adaptive-gain nonlinear term is introduced into the control design to handle unknown time-variant parameters. Concurrently both mismatched and matched disturbances existing in electro-hydraulic axis systems can also be addressed in this way. With skillful integration of the backstepping technique and the adaptive control, a synthesized controller framework is successfully developed for electro-hydraulic axis systems, in which the coupled interaction between parameter estimation and disturbance estimation is avoided. Accordingly, this designed controller has the capacity of low-computation costs and simpler parameter tuning when compared to the other ones that integrate the adaptive control and observer/estimator-based technique to dividually handle parameter uncertainties and disturbances. Also, a nonlinear filter is designed to eliminate the “explosion of complexity” issue existing in the classical back-stepping technique. The stability analysis uncovers that all the closed-loop signals are bounded and the asymptotic tracking performance is also assured. Finally, contrastive experiment results validate the superiority of the developed method as well.