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

作　　者：Xiaowei YANG Yaowen GE Wenxiang DENG Jianyong YAO 

机构地区：[1]School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing 210094,China

出　　处：《Chinese Journal of Aeronautics》2024年第1期463-471,共9页中国航空学报（英文版）

基　　金：supported in part by the National Key R&D Program of China(No.2021YFB2011300);the National Natural Science Foundation of China(No.52075262,51905271,52275062);the Fok Ying-Tong Education Foundation of China(No.171044);the Postgraduate Research&Practice Innovation Program of Jiangsu Province(No.KYCX22_0471)。

摘　　要：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.

关 键 词：Adaptive control Asymptotic convergence Electro-hydraulic axis system Precision motion control Unknown time-variant parameters and disturbances 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计]