Robust adaptive precision motion control of hydraulic actuators with valve dead-zone compensation

Observer-Based Adaptive Sliding Mode Compensation Position-Tracking Control for Drilling Tool Attitude Adjustment

This study develops an adaptive sliding mode control approach for a drilling tool attitude adjustment system, aiming at solving the problems of model uncertainties and insufficient ability of disturbance suppression during the regulation behavior. To further improve the performance of the position-tracking loop in terms of response time, tracking accuracy, and robustness, a state observer based on an improved radial basis function is designed to approximate the model uncertainties, a valve dead-zone compensate controller is used to reduce control deviation, an adaptive sliding mode controller is designed to improve the position-tracking precision and attenuate sliding mode chattering. Finally, simulation and experimental results are carried out to verify the observability of the model uncertainties and position-tracking errors of the drilling tool attitude adjustment system, which can effectively improve the position-tracking performance and robustness of the drilling tool attitude adjustment system.

Active fault-tolerant control for the dual-valve hydraulic system with unknown dead-zone

This paper proposes a method for high-performance motion control of the dual-valve hydraulic system subject to parameter and model uncertainties, unknown proportional valve dead-zone, and servo valve fault. By constructing a detailed dual-valve fault system model (DFSM), a disturbance observer-based adaptive robust fault-tolerant controller is proposed via the backstepping method. This controller integrates a model-based fault detection algorithm for real-time fault monitoring and subsequent controller reconfiguration. Additionally, the DFSM-based adaptive robust control (ARC) technique is applied to handle the unknown dead-zone problem and other nonlinearities, ensuring precise control. Once the servo valve fault occurs, a nonlinear observer estimates the fault and collaborates with the ARC to establish a reconfigured controller, thereby maintaining motion control. The effectiveness of the proposed method has been experimentally verified.

Neural network-based finite-time command-filtered adaptive backstepping control of electro-hydraulic servo system with a three-stage valve

This paper aims to improve the tracking control performance of the three-stage valve (TSV) controlled electro-hydraulic servo system (EHSS) with parameter uncertainties and other lumped unknown nonlinearities, including unknown dynamics and disturbances. A more accurate nonlinear model of the TSV-controlled EHSS is established and a neural network-based finite-time command-filtered adaptive backstepping control (NNFCABC) method is proposed for the EHSS. Adaptive control is used to deal with the system parameter uncertainties, and the radial basis function neural network (RBFNN) algorithm is introduced to approximate the lumped unknown nonlinearities. The prediction errors of serial-parallel estimation models (SPEMs) and the tracking errors are utilized together to design adaptive laws to estimate the system parameters and the weights of the RBFNNs. The entire control framework utilizes command-filtered control and backstepping techniques. By applying Levant differentiators as command filters and introducing fractional power terms into the virtual control laws and the SPEMs, the proposed NNFCABC theoretically guarantees the tracking performance of the closed-loop control system with finite-time convergence. Comparative simulations and experiments verify the feasibility and superiority of the proposed control scheme.

Nonlinear robust adaptive precision motion control of motor servo systems with unknown actuator backlash compensation

In this article, the problem of high precision motion control for motor servo systems with modeling uncertainties and unknown actuator backlash is addressed. The combination of synthesized adaptive laws and continuous nonlinear robust term handles parameter uncertainties and system disturbances. The adaptive technique updates the unknown parameters of actuator backlash in real time and the backlash inverse function eliminates the backlash effect. Meanwhile, the designed controller without knowing the range of the disturbance upper bound but automatically estimates through the adaptive law, which improves the engineering practicability. Finally, the theoretical analysis proves the perfect asymptotic stability of the presented controller even with unmodeled disturbances and unknown actuator backlash. Extensive comparative experiments reveal the superiority of the presented method.

Real-Time Hybrid Test Control Research Based on Improved Electro-Hydraulic Servo Displacement Algorithm

Real-time hybrid testing (RTH) is a test method for dynamic loading performance evaluation of structures, which is divided into digital simulation and physical testing, but the integration of the two may lead to problems such as time lag, large errors, and slow response time. The electro-hydraulic servo displacement system, as the transmission system of the physical test structure, directly affects the operational performance of RTH. Improving the performance of the electro-hydraulic servo displacement control system has become the key to solving the problem of RTH. In this paper, the FF-PSO-PID algorithm is proposed to control the electro-hydraulic servo system in real-time hybrid testing (RTH), which uses the PSO algorithm to operate the optimized PID parameters and the feed-forward compensation algorithm to compensate the displacement. First, the mathematical model of the electro-hydraulic displacement servo system in RTH is presented and the actual parameters are determined. Then, the objective evaluation function of the PSO algorithm is proposed to optimize the PID parameters in the context of RTH operation, and a displacement feed-forward compensation algorithm is added for theoretical study. To verify the effectiveness of the method, joint simulations were performed in Matlab/Simulink to compare and test FF-PSO-PID, PSO-PID, and conventional PID (PID) under different input signals. The results show that the proposed FF-PSO-PID algorithm effectively improves the accuracy and response speed of the electro-hydraulic servo displacement system and solves the problems of RTH time lag, large error, and slow response.

Fault tolerant control of nonlinear hydraulic systems with prescribed performance constraint

Aiming at the low tracking accuracy and poor fault tolerance of displacement-controlled systems, this paper puts forward a fault tolerant robust controller. The influence of many uncertain factors on trajectory tracking performance have been considered, such as external disturbances, high nonlinearity, system faults, and complex modeling uncertainty of the system. First, a new finite-time observer is proposed to estimate the system states, disturbances, and system faults simultaneously. Then, an improved fast super twisting algorithm is designed to guarantee the reachability of the sliding surface in finite time. Furthermore, the prescribed performance constrained control technique is combined to ensure that the tracking error remains within the prescribed bounded range even though faults occur. Finally, the effectiveness of the proposed control method is validated by simulation results.

Input constraint control for hydraulic systems with asymptotic tracking

Due to the nonlinearity and various uncertainties, the controller design for hydraulic servo systems with input constraint is more complicated and challenging. This paper first proposes an asymptotic tracking controller for electrohydraulic servomechanisms considering input constraint, parametric uncertainties, and unmodeled disturbances. The core innovation of this controller is to decouple the control input and the input nonlinearity while guaranteeing the nonlinear decoupling term and its derivative to be available and bounded. Meanwhile, the decoupling operation could be skillfully integrated to realize accurate adaptive model-based compensation while remaining the unique feature of asymptotic control for residual disturbances. For this purpose, based on the desired trajectory and the estimated disturbance via an extended state observer (ESO), a desired load pressure signal is constructed to replace the actual load pressure and accomplish the required decoupling operation. In this case, a desired adaptive feedforward compensation in combination with a robust integral of the sign of the error (RISE) feedback is proposed to attenuate parametric uncertainties and residual unmodeled disturbances, respectively. Subsequently, a smooth hyperbolic tangent function is integrated into the controller to handle the input constraint. Theoretical analysis proves that the developed control strategy can achieve semi-global asymptotic tracking performance. Besides, numerical simulations and experimental tests demonstrate that the proposed control scheme can ensure high-precision tracking performance and simultaneously satisfy the preset control input range when encountering the input constraint and modeling uncertainties.

Active Disturbance Rejection Adaptive Control for Hydraulic Lifting Systems with Valve Dead-Zone

In this article, the motion control problem of hydraulic lifting systems subject to parametric uncertainties, unmodeled disturbances, and a valve dead-zone is studied. To surmount the problem, an active disturbance rejection adaptive controller was developed for hydraulic lifting systems. Firstly, the dynamics, including both mechanical dynamics and hydraulic actuator dynamics with a valve dead-zone of the hydraulic lifting system, were modeled. Then, by adopting the system model and a backstepping technique, a composite parameter adaptation law and extended state disturbance observer were successfully combined, which were employed to dispose of the parametric uncertainties and unmodeled disturbances, respectively. This much decreased the learning burden of the extended state disturbance observer, and the high-gain feedback issue could be shunned. An ultimately bounded tracking performance can be assured with the developed control method based on the Lyapunov theory. A simulation example of a hydraulic lifting system was carried out to demonstrate the validity of the proposed controller.

Decoupling-based adaptive sliding-mode synchro-position control for a dual-cylinder driven hydraulic support with different pipelines

Dual-cylinder driving columns of a hydraulic support are required to be synchronous, with the purpose of guaranteeing the support balance and providing the roof an enough force. In addition, pipelines connecting cylinders with electro-hydraulic servo-valve have a significance influence on synchronization. Taking the length of pipelines into account, the mathematical model of a dual-cylinder driven hydraulic support is built, and the displacement-force coupling characteristic caused by the shared pump is tackled by a decoupling compensator. Following that, an adaptive sliding-mode synchro-position control strategy (ASSC) is designed based on an improved sliding mode reaching law and an adaptive law is developed to restrain the uncertainties resulted from the sub-system after decoupling. The experimental results obtained from the joint simulation platform and practical system show that the proposed controller can effectively reduce the synchronization error between two column positions and has better control performance than the PI and fuzzy PID controllers.

High-Frequency Position Servo Control of Hydraulic Actuator with Valve Dynamic Compensation

Hydraulic actuators play an important role in various industries. In the last decades, to improve system performance, some advanced control methods have been developed. Backstepping control, which can deal with the system nonlinearities, is widely used in hydraulic system motion control. This paper focuses on the high-frequency position servo control of hydraulic systems with proportional valves. In backstepping controllers, valve dynamics are usually ignored due to difficulty of controller implementation. In this paper, valve dynamics of the proportional valve were decoupled into phase delay and amplitude delay. The valve dynamics are compensated without increasing the system order. The phase delay is compensated by desired engine valve lifts transformation. For amplitude delay, the paper proposes a compensation strategy based on the integral flow error. By introducing the feedback of the integral flow error to the backstepping controller, the system has faster dynamic responses. Besides, the controller also synthesized proportional valve dead-zone and system uncertainties. The comparative experiment results show that the controller with integral flow compensation can improve engine valve lift tracking precision both in steady and transient conditions.

Valve Deadzone/Backlash Compensation for Lifting Motion Control of Hydraulic Manipulators

In this paper, a novel nonlinear model and high-precision lifting motion control method of a hydraulic manipulator driven by a proportional valve are presented, with consideration of severe system nonlinearities, various uncertainties as well as valve backlash/deadzone input nonlinearities. To accomplish this mission, based on the independent valve orifice throttling process, a new comprehensive pressure-flow model is proposed to uniformly indicate both the backlash and deadzone effects on the flow characteristics. Furthermore, in the manipulator lifting dynamics, considering mechanism nonlinearity and utilizing a smooth LuGre friction model to describe the friction dynamics, a nonlinear state-space mathematical model of hydraulic manipulation system is then established. To suppress the adverse effects of severe nonlinearities and uncertainties in the system, a high precision adaptive robust control method is proposed via backstepping, in which a projection-type adaptive law in combination with a robust feedback term is conducted to attenuate various uncertainties and disturbances. Lyapunov stability analysis demonstrates that the proposed control scheme can acquire transient and steady-state close-loop stability, and the excellent tracking performance of the designed control law is verified by comparative simulation results.

Incomplete differentiation-based improved adaptive backstepping integral sliding mode control for position control of hydraulic system

In the hydraulic systems, the non-structural uncertainties such as the nonlinear friction will reduce the tracking accuracy for the hydraulic servo system. In this paper, an incomplete differential-based improved adaptive backstepping integral sliding mode control (ID-BIABISMC) is proposed to realize the position control for the hydraulic servo system based on the friction compensation. The backstepping-based control being integrated the integral sliding mode surface-based sliding mode control with the friction compensation are used to solve the problem of non-structural uncertainty of the hydraulic system. The incomplete differential is introduced to the adaptive update law, by which the low-pass filtering behavior in the incomplete differential is capable of effectively suppressing the interference caused by the pure differential mutation signal. Compared with the traditional adaptive backstepping control (ABC), adaptive sliding mode control (ASMC), the adaptive backstepping sliding mode control (ABSMC) and the proposed adaptive backstepping integral sliding mode control (IABISMC), the experimental results verify the high accuracy tracking performance of the proposed the incomplete differential-based improved adaptive backstepping integral sliding mode control (ID-BIABISMC). For the responses of the sinusoidal signal 40sin(0.2πt+1.5π)+40mm and step signal with 30 mm, the corresponding tracking accuracy for ID-BIABISMC are 0.005 mm and 2.15 mm, respectively.

Active Disturbance Rejection Position Synchronous Control of Dual-Hydraulic Actuators with Unknown Dead-Zones

In this paper, an integrated control strategy of position synchronization control for dual-electro-hydraulic actuators with unknown dead-zones is proposed. The unified control scheme consists of two parts: One is adaptive dead-zone inverse controllers of each hydraulic actuator to offset the unknown dead-zones. The other is the linear active disturbance rejection controller (LADRC) for position synchronization error. First, the model of the electro-hydraulic proportional position control system (EPPS) was identified by the forgetting factor recursive least square (FFRLS) algorithm. Next, the model reference dead-zone inverse adaptive controller (MRDIAC) was developed to compensate for the delay of actuator response caused by unknown proportional valve dead-zones. Meanwhile, the validity of the adaptive law was proven by the Lyapunov theory. Therefore, the position control accuracy of each hydraulic actuator is guaranteed. Besides, to improve the precision of position synchronization control of dual-hydraulic actuators, a simple and elegant synchronous error-based LADRC was adopted, which applies the total disturbances design concept to eliminate and compensate for motion coupling rather than cross-coupling technology. The performance of the proposed control solution was investigated through extensive comparative experiments based on a hydraulic test platform. The experimental results successfully demonstrate the effectiveness and practicality of the proposed method.

Model reference adaptive tracking control for hydraulic servo systems with nonlinear neural-networks

It is well known that hydraulic systems typically suffer from heavy disturbances including parametric uncertainties and unknown disturbances. In order to attain high performance tracking control, this paper proposes a composite design of nonlinear neural-networks (NN) and continuous robust integral of the sign of the error (RISE) feedback controller. The control development incorporates a NN feedforward component to have a compensation for unknown state-dependent disturbances and to further improve the accuracy of feedforward compensation, meanwhile input parameter is updated online. To achieve asymptotic stability, a novel RISE term with NN-based feedforward component is developed for the first time to enable the incorporation of model reference adaptive control structure where acceleration signal is not employed. The proposed controller guarantees controlled hydraulic system a semi-global asymptotic stability. For the experimental results, the prescribed transient performance is tested under rectangular trajectory and the steady state performance is tested under sinusoidal trajectory.

Model-free continuous nonsingular fast terminal sliding mode control for cable-driven manipulators

This work proposes a model-free robust control for cable-driven manipulators with disturbance. To achieve accurate, singularity-free and fast dynamical control performance, we design a new NFTSM surface utilizing a new continuous TSM-type switch element. By replacing the integral power with fractional one for the error dynamics, the designed TSM-type switch element can effectively enhance the dynamical performance of the NFTSM surface. Time-delay estimation (TDE) technique is applied to cancel out complicated nonlinear dynamics guaranteeing an excellent model-free scheme. Thanks to the designed NFTSM surface, adopted reaching law and TDE, our control can provide good comprehensive control performance effectively. Stability and comparisons of control precision and convergence speed have been theoretically analyzed. Finally, comparative experiments were conducted to prove the superiorities of our control.

Fixed-time adaptive neural network control for nonstrict-feedback nonlinear systems with deadzone and output constraint

This paper considers fixed-time control problem of nonstrict-feedback nonlinear system subjected to deadzone and output constraint. First, tan-type Barrier Lyapunov function (BLF) is constructed to keep system output within constraint. Next, unknown nonlinear function is approximated by radial basis function neural network (RBFNN). Using the property of Gaussian radial basis function, the upper bound of the term containing the unknown nonlinear function is derived and the updating law is proposed to estimate the square of the norm of the neural network weights. Then, virtual control inputs are developed using backstepping design and their derivatives are obtained by fixed-time differentiator. Finally, the actual control input is designed based on deadzone inverse approach. Lyapunov stability analysis shows that the presented method guarantees fixed-time convergence of the tracking error to a small neighborhood around zero while all the other closed-loop signals keep bounded. The presented control strategy addresses algebraic-loop problem, overcomes explosion of complexity and reduces the number of adaptation parameters, which is easy to be implemented with less computation burden. The presented control scheme is applied to academic system, real electromechanical system and aircraft longitudinal system and simulation results demonstrate its effectiveness.

Adaptive super-twisting fractional-order nonsingular terminal sliding mode control of cable-driven manipulators

This paper proposes a novel adaptive super-twisting fractional-order nonsingular terminal sliding mode (AST-FONTSM) control scheme using time delay estimation (TDE) for the cable-driven manipulators. The designed control scheme utilizes TDE to obtain the estimation of system dynamics, and therefore no system dynamic model information will be required. Afterwards, AST and FONTSM schemes are applied to ensure good control performance in both reaching and sliding mode phases. Due to the adoption of AST scheme, good robustness and high control precision are obtained in the reaching phase, while the boundary information of the lumped uncertainties will be no longer required. Thanks to the utilization of FONTSM error dynamics, fast convergence and accurate tracking and strong robustness can be simultaneously ensured in the sliding mode phase. Corresponding comparative simulation and experimental results demonstrate the effectiveness and superiorities of our proposed method over the existing control methods.