POSITION CONTROL OF AN ELECTRO-HYDRAULIC SERVOSYSTEM - A non-linear backstepping approach

Claude Kaddissi, Jean-Pierre Kenné, Maarouf Saad

Abstract

This paper studies the control of an electro-hydraulic servosystem using a non-linear backstepping based approach. These systems are known to be highly non-linear due to many factors as leakage, friction and especially the fluid flow expression through the servo-valve. Another fact, often neglected or avoided, is that such systems have a non-differentiable mathematical model for bi-directional applications. All these facets are pointed out in the proposed model of this paper. Therefore, the control of this class of systems should be based on non-linear strategies. Many experiments showed the failure of classic control with electro-hydraulic systems, unless operating in the neighborhood of a desired value or reference signal. The backstepping is used here to overcome all the non-linear effects. The model discontinuity is solved in this paper, by approximating the non-differentiable function by a sigmoid, so that the backstepping could be used without restrictions. In fact, simulation results show the effectiveness of the proposed approach in terms of guaranteed stability and zero tracking error.

References

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Paper Citation


in Harvard Style

Kaddissi C., Kenné J. and Saad M. (2004). POSITION CONTROL OF AN ELECTRO-HYDRAULIC SERVOSYSTEM - A non-linear backstepping approach . In Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 972-8865-12-0, pages 270-276. DOI: 10.5220/0001134402700276


in Bibtex Style

@conference{icinco04,
author={Claude Kaddissi and Jean-Pierre Kenné and Maarouf Saad},
title={POSITION CONTROL OF AN ELECTRO-HYDRAULIC SERVOSYSTEM - A non-linear backstepping approach},
booktitle={Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2004},
pages={270-276},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001134402700276},
isbn={972-8865-12-0},
}


in EndNote Style

TY - CONF
JO - Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - POSITION CONTROL OF AN ELECTRO-HYDRAULIC SERVOSYSTEM - A non-linear backstepping approach
SN - 972-8865-12-0
AU - Kaddissi C.
AU - Kenné J.
AU - Saad M.
PY - 2004
SP - 270
EP - 276
DO - 10.5220/0001134402700276