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“Adaptive Backstepping Control of Nonlinear Hydraulic-Mechanical System Including Valve Dynamics”

Authors: Martin Choux and Geir Hovland,
Affiliation: University of Agder
Reference: 2010, Vol 31, No 1, pp. 35-44.

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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.

PDF PDF (466 Kb)        DOI: 10.4173/mic.2010.1.3

DOI forward links to this article:
  [1] Martin Choux and Mogens Blanke (2011), doi:10.1109/CDC.2011.6161363
  [2] Perry Y. Li and Meng Rachel Wang (2014), doi:10.1109/TMECH.2013.2266916
  [3] Martin Choux, Geir Hovland and Mogens Blanke (2012), doi:10.3182/20120531-2-NO-4020.00046

[1] Bonchis, A., Corke, P., Rye, D. (2002). Experimental Evaluation of Position Control Methods for Hydraulic Systems, IEEE Transactions on Control Systems Technology, 1.6:876--882 doi:10.1109/TCST.2002.804128
[2] Krstic, M., Kanellakopoulos, I., Kokotovic, P. (1995). Nonlinear and Adaptive Control Design, Wiley, New York.
[3] Zeng, H. Sepehri, N. (2006). Adaptive backstepping control of hydraulic manipulators with friction compensation using LuGre model, In Proc. American Control Conference. pp. 3164--3169.
[4] Zeng, H. Sepehri, N. (2008). Tracking Control of Hydraulic Actuators Using a LuGre Friction Model Compensation, Journal of Dynamic Systems, Measurement, and Control, 13.1:0145021--0145027 doi:10.1115/1.2807181

  title={{Adaptive Backstepping Control of Nonlinear Hydraulic-Mechanical System Including Valve Dynamics}},
  author={Choux, Martin and Hovland, Geir},
  journal={Modeling, Identification and Control},
  publisher={Norwegian Society of Automatic Control}


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