Adaptive Robust Control for Electro-Hydraulic Servo System of a Projectile Transfer Arm

An adaptive robust control method is proposed to solve the problem of uncertain nonlinearity and parameter uncertainty in a kind of valve controlled asymmetric cylinder electro-hydraulic servo system of a projectile transfer arm. A backstepping method is applied to design the state feedback controller and robust control method is applied to compensate the influence of uncertain nonlinear term. An adaptive controller with a discontinuous projection algorithm is introduced to ensure boundedness of parameter estimation. The stability of the closed loop system is verified by the Lyapunov theory. A simulation is conducted on the model of the projectile transfer arm electro-hydraulic servo system. Compared with the simulation results of PID control method and backstepping robust control method, the result of adaptive robust control method has superiority in control precision and stability.