“Adaptive Backstepping Control of Nonlinear Hydraulic-Mechanical System Including Valve Dynamics” Authors: Martin Choux and Geir Hovland Affiliation: Mechatronics Group, Department of Engineering, University of Agder, N-4898 Grimstad, Norway. Reference: 2010, Vol. 31, No. 1, pp. 35-44.

Keywords: adaptive observer backstepping, state feedback, nonlinear hydraulic-mechanical system, valve dynamics

Abstract: The main contribution of the paper is the development of an adaptive backstepping controller for a nonlinear hydraulic-mechanical system considering valve dynamics. The paper also compares the performance of two variants of an adaptive backstepping tracking controller with a simple PI controller. The results show that the backstepping controller considering valve dynamics achieves significantly better tracking performance than the PI controller, while handling uncertain parameters related to internal leakage, friction, the orifice equation and oil characteristics.

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References:
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BibTeX:
@article{MIC-2010-1-3,
  title={{Adaptive Backstepping Control of Nonlinear Hydraulic-Mechanical System Including Valve Dynamics}},
  author={M. Choux and G. Hovland},
  journal={Modeling, Identification and Control},
  volume={31},
  number={1},
  pages={35--44},
  year={2010},
  doi={10.4173/mic.2010.1.3},
  publisher={Norwegian Society of Automatic Control}
};