Tracking Performance Evaluation of Robust Back-Stepping Control Design for a Nonlinear Electrohydraulic Servo System
Electrohydraulic servo system have been used in industry in a wide number of applications. Its dynamics are highly nonlinear and also have large extent of model uncertainties and external disturbances. In this paper, a robust back-stepping control (RBSC) scheme is proposed to overcome the problem of disturbances and system uncertainties effectively and to improve the tracking performance of EHS systems. In order to implement the proposed control scheme, the system uncertainties in EHS systems are considered as total leakage coefficient and effective oil volume. In addition, in order to obtain the virtual controls for stabilizing system, the update rule for the system uncertainty term is induced by the Lyapunov control function (LCF). To verify the performance and robustness of the proposed control system, computer simulation of the proposed control system using Matlab/Simulink Software is executed. From the computer simulation, it was found that the RBSC system produces the desired tracking performance and has robustness to the disturbances and system uncertainties of EHS systems.
[1] H. E. Merrit, Hydraulic Control Systems. New York: John Wiley & Sons
Inc, 1967.
[2] J. Watton, Fluid Power Systems. New Jersey: Prentice Hall, 1989.
[3] J. E. Bobrow and K. Lum, “Adaptive, High Bandwidth Control of a
Hydraulic Actuator,” Trans. of the ASME, Journal of Dynamic Systems,
Measurement and Control, Vol. 118, No. 4, pp. 714-720, 1996.
[4] Yao, Jianjun, et al. "Adaline neural network-based adaptive inverse
control for an electro-hydraulic servo system," Journal of Vibration and
Control (2011).
[5] H. M. Kim, et al. "Robust Position Control of Electro-Hydraulic
Actuator Systems Using the Adaptive Back-Stepping Control Scheme
Proceedings of the Institution of Mechanical Engineers,” Part I: Journal
of Systems and Control Engineering, 224: 737-746, September 2010.
[6] W. Piotr, and R. Dindorf, "Adaptive Control of the Electro‐Hydraulic
Servo‐System with External Disturbances." Asian Journal of Control
15.4, 1065-1080, 2013.
[7] Y. Jianyong, J. Zongxia, "Electrohydraulic positioning servo control
based on its adaptive inverse model," 6th IEEE Conference on Industrial
Electronics and Applications, 1698, 1701, 21-23, June 2011.
[8] K. Claude, J-P. Kenne, and M. Saad. "Indirect adaptive control of an
electrohydraulic servo system based on nonlinear backstepping,"
IEEE/ASME Transactions on Mechatronics, 16.6, 1171-1177, 2011.
[9] S. Lasse, A. T. Ole, P. H. Clemmensen, “Robust Non-Chattering
Observer Based Sliding Control Concept for Electro-Hydraulic Drives,”
6th IFAC Symposium on Mechatronic Systems, 99-108, Zhejiang
University, Hangzhou, China, 2013.
[10] C. Dong, J. Lu, Q. Meng, "Position control of an electro-hydraulic servo
system based on improved Smith predictor," International Conference
on Electronic and Mechanical Engineering and Information
Technology, vol.6, pp.2818,2821, Aug. 2011.
[11] S. Kurode, P. G. Desai, A. Shiralkar, “Modeling of electro-hydraulic
servo valve and Robust Position Control using Sliding Mode
Technique,” Proceedings of the 1st International and 16th National
Conference on Machines and Mechanisms, IIT Roorkee, India, Dec
2013.
[12] W. M. Bessa, M. S. Dutra, E. Kreuzer, “Sliding Mode Control with
Adaptive Fuzzy Dead-Zone Compensation of an Electro-hydraulic
Servo-System,” Journal of Intelligent and Robotic Systems, Volume 58,
Issue 1, pp 3-16, 2010.
[13] M. F. Rahmat, et al. "Modeling and controller design of an industrial
hydraulic actuator system in the presence of friction and internal
leakage." International Journal of Physical Sciences, 6.14, 3502-3517,
2011.
[14] W. Hongyan, Q. Jihong, W. Qinglin, "A hybrid adaptive wavelet neural
network control and sliding mode control for electro-hydraulic servo
system," 29th Chinese Control Conference, pp.2328, 2333, July 2010.
[15] T. L. Chern and Y. C. Wu, “Design of Integral Variable Structure
Controller and Application to Electrohydraulic Velocity Servosystems,”
IEE Proceedings D (Control Theory and Applications). Vol. 138. No. 5.
IET Digital Library pp. 439-444, 1991.
[16] R. F. Fung and R. T. Yang, “Application of Variable Structure
Controller in Position Control of a Nonlinear Electrohydraulic Servo
System,” Computers & Structures, Vol. 66, No. 4, pp. 365-372, 1998.
[17] P. Pornjit, S. Thongchai, and S. Tansriwong. "A hybrid of fuzzy and
proportional-integral-derivative controller for electro-hydraulic position
servo system." Energy Research Journal, 1.2, 62-67, 2010.
[18] S. Kwanchai, et al. "A hybrid of fuzzy and fuzzy self-tuning PID
controller for servo electro-hydraulic system." 6th IEEE Conference on
Industrial Electronics and Applications, 2011.
[19] A. Ramli, et al. "Self-tuning fuzzy PID controller for electro-hydraulic
cylinder." 7th International Colloquium on Signal Processing and its
Applications, 2011.
[20] Y. Lin-ke, et al. "Fuzzy PID control for direct drive electro-hydraulic
position servo system," International Conference on Consumer
Electronics, Communications and Networks (CECNet), pp. 370-373,
April 2011.
[21] R. Mohd, et al. "Self-tuning position tracking control of an electrohydraulic
servo system in the presence of internal leakage and friction."
International Review of Automatic Control, 3.6, 684-691, 2010.
[22] O. Cerman, and P. Hušek, “Adaptive fuzzy sliding mode control for
electro-hydraulic servo mechanism,” Expert Systems with Applications,
Volume 39, Issue 11, Pages 10269-10277, 2012.
[23] Y. Bai, P. Li, "Adaptive fuzzy sliding mode control for Electrohydraulic
position servo system," Control and Decision Conference,
Chinese, pp. 3249-3253, May 2010.
[24] A. A. Aly, et al. "Intelligent PI Fuzzy Control of An Electro-Hydraulic
Manipulator." International Journal of Intelligent Systems and
Applications (IJISA), 4.7, 43, 2010.
[25] H. M. Kim, et al. “A robust control of electro hydrostatic actuator using
the adaptive back-stepping scheme and fuzzy neural networks,”
International Journal of Precision Engineering and Manufacturing,
Volume 11, Issue 2, pp. 227-236, 2010.
[26] G. Vossoughi and M. Donath, “Dynamic Feedback Linearization for
Electrohydraulic Actuated Control Systems,” Trans. of the ASME,
Journal of Dynamic Systems, Measurement and Control, Vol. 117, No.
3, pp. 468-477, 1995.
[27] M. H. Angue, et al. "Feedback linearization-based position control of an
electrohydraulic servo system with supply pressure uncertainty." IEEE
Transactions on Control Systems Technology, 20.4, 1092-1099, 2012.
[28] P. Gruber and S. Balemi, “Overview of non-linear control methods,”
Swiss, May 2010.
[29] A. A. Aly, “PID Parameters Optimization Using Genetic Algorithm
Technique for Electrohydraulic Servo Control System,” Intelligent
Control and Automation, 2, 69-76, 2011.
[30] P. Olranthichachat, S. Kaitwanidvilai, “Design of Optimal Robust PI
Controller for Electro-Hydraulic Servo System," Engineering Letters,
vol. 19, no. 3, 2011.
[1] H. E. Merrit, Hydraulic Control Systems. New York: John Wiley & Sons
Inc, 1967.
[2] J. Watton, Fluid Power Systems. New Jersey: Prentice Hall, 1989.
[3] J. E. Bobrow and K. Lum, “Adaptive, High Bandwidth Control of a
Hydraulic Actuator,” Trans. of the ASME, Journal of Dynamic Systems,
Measurement and Control, Vol. 118, No. 4, pp. 714-720, 1996.
[4] Yao, Jianjun, et al. "Adaline neural network-based adaptive inverse
control for an electro-hydraulic servo system," Journal of Vibration and
Control (2011).
[5] H. M. Kim, et al. "Robust Position Control of Electro-Hydraulic
Actuator Systems Using the Adaptive Back-Stepping Control Scheme
Proceedings of the Institution of Mechanical Engineers,” Part I: Journal
of Systems and Control Engineering, 224: 737-746, September 2010.
[6] W. Piotr, and R. Dindorf, "Adaptive Control of the Electro‐Hydraulic
Servo‐System with External Disturbances." Asian Journal of Control
15.4, 1065-1080, 2013.
[7] Y. Jianyong, J. Zongxia, "Electrohydraulic positioning servo control
based on its adaptive inverse model," 6th IEEE Conference on Industrial
Electronics and Applications, 1698, 1701, 21-23, June 2011.
[8] K. Claude, J-P. Kenne, and M. Saad. "Indirect adaptive control of an
electrohydraulic servo system based on nonlinear backstepping,"
IEEE/ASME Transactions on Mechatronics, 16.6, 1171-1177, 2011.
[9] S. Lasse, A. T. Ole, P. H. Clemmensen, “Robust Non-Chattering
Observer Based Sliding Control Concept for Electro-Hydraulic Drives,”
6th IFAC Symposium on Mechatronic Systems, 99-108, Zhejiang
University, Hangzhou, China, 2013.
[10] C. Dong, J. Lu, Q. Meng, "Position control of an electro-hydraulic servo
system based on improved Smith predictor," International Conference
on Electronic and Mechanical Engineering and Information
Technology, vol.6, pp.2818,2821, Aug. 2011.
[11] S. Kurode, P. G. Desai, A. Shiralkar, “Modeling of electro-hydraulic
servo valve and Robust Position Control using Sliding Mode
Technique,” Proceedings of the 1st International and 16th National
Conference on Machines and Mechanisms, IIT Roorkee, India, Dec
2013.
[12] W. M. Bessa, M. S. Dutra, E. Kreuzer, “Sliding Mode Control with
Adaptive Fuzzy Dead-Zone Compensation of an Electro-hydraulic
Servo-System,” Journal of Intelligent and Robotic Systems, Volume 58,
Issue 1, pp 3-16, 2010.
[13] M. F. Rahmat, et al. "Modeling and controller design of an industrial
hydraulic actuator system in the presence of friction and internal
leakage." International Journal of Physical Sciences, 6.14, 3502-3517,
2011.
[14] W. Hongyan, Q. Jihong, W. Qinglin, "A hybrid adaptive wavelet neural
network control and sliding mode control for electro-hydraulic servo
system," 29th Chinese Control Conference, pp.2328, 2333, July 2010.
[15] T. L. Chern and Y. C. Wu, “Design of Integral Variable Structure
Controller and Application to Electrohydraulic Velocity Servosystems,”
IEE Proceedings D (Control Theory and Applications). Vol. 138. No. 5.
IET Digital Library pp. 439-444, 1991.
[16] R. F. Fung and R. T. Yang, “Application of Variable Structure
Controller in Position Control of a Nonlinear Electrohydraulic Servo
System,” Computers & Structures, Vol. 66, No. 4, pp. 365-372, 1998.
[17] P. Pornjit, S. Thongchai, and S. Tansriwong. "A hybrid of fuzzy and
proportional-integral-derivative controller for electro-hydraulic position
servo system." Energy Research Journal, 1.2, 62-67, 2010.
[18] S. Kwanchai, et al. "A hybrid of fuzzy and fuzzy self-tuning PID
controller for servo electro-hydraulic system." 6th IEEE Conference on
Industrial Electronics and Applications, 2011.
[19] A. Ramli, et al. "Self-tuning fuzzy PID controller for electro-hydraulic
cylinder." 7th International Colloquium on Signal Processing and its
Applications, 2011.
[20] Y. Lin-ke, et al. "Fuzzy PID control for direct drive electro-hydraulic
position servo system," International Conference on Consumer
Electronics, Communications and Networks (CECNet), pp. 370-373,
April 2011.
[21] R. Mohd, et al. "Self-tuning position tracking control of an electrohydraulic
servo system in the presence of internal leakage and friction."
International Review of Automatic Control, 3.6, 684-691, 2010.
[22] O. Cerman, and P. Hušek, “Adaptive fuzzy sliding mode control for
electro-hydraulic servo mechanism,” Expert Systems with Applications,
Volume 39, Issue 11, Pages 10269-10277, 2012.
[23] Y. Bai, P. Li, "Adaptive fuzzy sliding mode control for Electrohydraulic
position servo system," Control and Decision Conference,
Chinese, pp. 3249-3253, May 2010.
[24] A. A. Aly, et al. "Intelligent PI Fuzzy Control of An Electro-Hydraulic
Manipulator." International Journal of Intelligent Systems and
Applications (IJISA), 4.7, 43, 2010.
[25] H. M. Kim, et al. “A robust control of electro hydrostatic actuator using
the adaptive back-stepping scheme and fuzzy neural networks,”
International Journal of Precision Engineering and Manufacturing,
Volume 11, Issue 2, pp. 227-236, 2010.
[26] G. Vossoughi and M. Donath, “Dynamic Feedback Linearization for
Electrohydraulic Actuated Control Systems,” Trans. of the ASME,
Journal of Dynamic Systems, Measurement and Control, Vol. 117, No.
3, pp. 468-477, 1995.
[27] M. H. Angue, et al. "Feedback linearization-based position control of an
electrohydraulic servo system with supply pressure uncertainty." IEEE
Transactions on Control Systems Technology, 20.4, 1092-1099, 2012.
[28] P. Gruber and S. Balemi, “Overview of non-linear control methods,”
Swiss, May 2010.
[29] A. A. Aly, “PID Parameters Optimization Using Genetic Algorithm
Technique for Electrohydraulic Servo Control System,” Intelligent
Control and Automation, 2, 69-76, 2011.
[30] P. Olranthichachat, S. Kaitwanidvilai, “Design of Optimal Robust PI
Controller for Electro-Hydraulic Servo System," Engineering Letters,
vol. 19, no. 3, 2011.
@article{"International Journal of Mechanical, Industrial and Aerospace Sciences:70264", author = "M. Ahmadnezhad and M. Soltanpour", title = "Tracking Performance Evaluation of Robust Back-Stepping Control Design for a Nonlinear Electrohydraulic Servo System ", abstract = "Electrohydraulic servo system have been used in industry in a wide number of applications. Its dynamics are highly nonlinear and also have large extent of model uncertainties and external disturbances. In this paper, a robust back-stepping control (RBSC) scheme is proposed to overcome the problem of disturbances and system uncertainties effectively and to improve the tracking performance of EHS systems. In order to implement the proposed control scheme, the system uncertainties in EHS systems are considered as total leakage coefficient and effective oil volume. In addition, in order to obtain the virtual controls for stabilizing system, the update rule for the system uncertainty term is induced by the Lyapunov control function (LCF). To verify the performance and robustness of the proposed control system, computer simulation of the proposed control system using Matlab/Simulink Software is executed. From the computer simulation, it was found that the RBSC system produces the desired tracking performance and has robustness to the disturbances and system uncertainties of EHS systems.
", keywords = "Electro hydraulic servo system, back-stepping
control, robust back-stepping control, Lyapunov redesign", volume = "9", number = "7", pages = "1228-7", }
