Authors:
Claude Kaddissi
;
Jean-Pierre Kenné
and
Maarouf Saad
Affiliation:
École de Technologie Supérieure, Canada
Keyword(s):
Electro-hydraulic systems modeling, Non-linear control, Backstepping.
Related
Ontology
Subjects/Areas/Topics:
Informatics in Control, Automation and Robotics
;
Robotics and Automation
;
Vehicle Control Applications
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.
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