Model-based nonlinear control of hydraulic servo systems: Challenges, developments and perspectives

Abstract

Hydraulic servo system plays a significant role in industries, and usually acts as a core point in control and power transmission. Although linear theory-based control methods have been well established, advanced controller design methods for hydraulic servo system to achieve high performance is still an unending pursuit along with the development of modern industry. Essential nonlinearity is a unique feature and makes model-based nonlinear control more attractive, due to benefit from prior knowledge of the servo valve controlled hydraulic system. In this paper, a discussion for challenges in model-based nonlinear control, latest developments and brief perspectives of hydraulic servo systems are presented: Modelling uncertainty in hydraulic system is a major challenge, which includes parametric uncertainty and time-varying disturbance; some specific requirements also arise ad hoc difficulties such as nonlinear friction during low velocity tracking, severe disturbance, periodic disturbance, etc.; to handle various challenges, nonlinear solutions including parameter adaptation, nonlinear robust control, state and disturbance observation, backstepping design and so on, are proposed and integrated, theoretical analysis and lots of applications reveal their powerful capability to solve pertinent problems; and at the end, some perspectives and associated research topics (measurement noise, constraints, inner valve dynamics, input nonlinearity, etc.) in nonlinear hydraulic servo control are briefly explored and discussed.

Keywords

hydraulic servo system / adaptive control / robust control / nonlinear friction / disturbance compensation / repetitive control / noise alleviation / constraint control

References

[1] Merritt H E. Hydraulic Control Systems. New York: Wiley, 1967

[2] Yao B, Bu F, Reedy J, Adaptive robust motion control of single-rod hydraulic actuators: Theory and experiments. IEEE/ASME Transactions on Mechatronics, 2000, 5(1): 79–91

[3] Krstic M, Kanellakopoulos I, Kokotovic P V. Nonlinear and Adaptive Control Design. New York: Wiley, 1995

[4] Armstrong-Hélouvry B, Dupont P, Canudas de Wit C. A survey of models, analysis tools and compensation methods for the control of machines with friction. Automatica, 1994, 30(7): 1083–1138

[5] Canudas de Wit C, Olsson H, Astrom K J, A new model for control of systems with friction. IEEE Transactions on Automatic Control, 1995, 40(3): 419–425

[6] Swevers J, Al-Bender F, Ganseman C G, An integrated friction model structure with improved presliding behavior for accurate friction compensation. IEEE Transactions on Automatic Control, 2000, 45(4): 675–686

[7] Yao J, Jiao Z, Ma D, High-accuracy tracking control of hydraulic rotary actuators with modelling uncertainties. IEEE/ASME Transactions on Mechatronics, 2014, 19(2): 633–641

[8] Yao J, Deng W, Jiao Z.RISE-based adaptive control of hydraulic systems with asymptotic tracking. IEEE Transactions on Automation Science and Engineering, 2017, 14(3): 1524–1531

[9] Lischinsky P, Canudas de Wit C, Morel G. Friction compensation for an industrial hydraulic robot. IEEE Control Systems Magazine, 1999, 19 (1): 25–32

[10] Swaroop D, Hedrick J K, Yip P P, Dynamic surface control for a class of nonlinear systems. IEEE Transactions on Automatic Control, 2000, 45(10): 1893–1899

[11] Yip P P, Hedrick J K. Adaptive dynamic surface control: A simplified algorithm for adaptive backstepping control of nonlinear systems. International Journal of Control, 1998, 71(5): 959–979

[12] Farrell J A, Polycarpou M, Sharma M, Command filtered backstepping. IEEE Transactions on Automatic Control, 2009, 54(6): 1391–1395

[13] Dong W, Farrell J A, Polycarpou M M, Command filtered adaptive backstepping. IEEE Transactions on Control Systems Technology, 2012, 20(3): 566–580

[14] Guan C, Pan S. Adaptive sliding mode control of electro-hydraulic system with nonlinear unknown parameters. Control Engineering Practice, 2008, 16(11): 1275–1284

[15] Guan C, Pan S. Nonlinear adaptive robust control of single-rod electro-hydraulic actuator with unknown nonlinear parameters. IEEE Transactions on Control Systems Technology, 2008, 16(3): 434–445

[16] Mintsa H A, Venugopal R, Kenne J P, Feedback linearization-based position control of an electrohydraulic servo system with supply pressure uncertainty. IEEE Transactions on Control Systems Technology, 2012, 20(4): 1092–1099

[17] Yao J, Yang G, Jiao Z. High dynamic feedback linearization control of hydraulic actuators with backstepping. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 2015, 229: 728–737

[18] Yao J, Jiao Z, Yao B, Nonlinear adaptive robust force control of hydraulic load simulator. Chinese Journal of Aeronautics, 2012, 25(5): 766–775

[19] Yang G, Yao J, Le G, Adaptive integral robust control of hydraulic systems with asymptotic tracking. Mechatronics, 2016, 40: 78–86

[20] Deng W, Yao J. Adaptive integral robust control and application to electromechanical servo systems. ISA Transactions, 2017, 67: 256–265

[21] Yang G, Yao J, Le G, Asymptotic output tracking control of electro-hydraulic systems with unmatched disturbances. IET Control Theory & Applications, 2016, 10(18): 2543–2551

[22] Yao B, Xu L. On the design of adaptive robust repetitive controllers. In: Proceedings of 2001 ASME International Mechanical Engineering Congress and Exposition. New York: ASME, 2001, 1–9

[23] Yao J, Jiao Z, Ma D. A practical nonlinear adaptive control of hydraulic servomechanisms with periodic-like disturbances. IEEE/ASME Transactions on Mechatronics, 2015, 20(6): 2752–2760

[24] Yao J, Deng W, Jiao Z. Adaptive control of hydraulic actuators with LuGre model based friction compensation. IEEE Transactions on Industrial Electronics, 2015, 62(10): 6469–6477

[25] Xu L, Yao B. Adaptive robust control of mechanical systems with nonlinear dynamic friction compensation. International Journal of Control, 2008, 81(2): 167–176

[26] Tan Y, Kanellakopoulos I. Adaptive nonlinear friction compensation with parametric uncertainties. In: Proceedings of the 1999 American Control Conference. San Diego: IEEE, 1999, 2511–2515

[27] Zheng Q, Gao L, Gao Z. On stability analysis of active disturbance rejection control for nonlinear time-varying plants with unknown dynamics. In: Proceedings of 2007 46th IEEE Conference on Decision and Control. New Orleans: IEEE, 2007, 3501–3506

[28] Yao J, Jiao Z, Ma D. Extended-state-observer-based output feedback nonlinear robust control of hydraulic systems with backstepping. IEEE Transactions on Industrial Electronics, 2014, 61(11): 6285–6293

[29] Tee K P, Ge S S, Tay E H. Barrier Lyapunov function for the control of output-constrained nonlinear systems. Automatica, 2009, 45(4): 918–927

[30] Ngo K B, Mahony R, Jiang Z P. Integrator backstepping using barrier functions for systems with multiple state constraints. In: Proceedings of 44th IEEE Conference on Decision and Control, 2005 and 2005 European Control Conference. Seville: IEEE, 2005, 8306–8312

[31] Deng W, Yao J, Jiao Z. Adaptive backstepping motion control of hydraulic actuators with velocity and acceleration constraints. In: Proceedings of 2014 IEEE Chinese Guidance, Navigation and Control Conference (CGNCC). Yantai: IEEE, 2014, 219–224

[32] Sadegh N, Horowitz R. Stability and robustness analysis of a class of adaptive controllers for robot manipulators. International Journal of Robotics Research, 1990, 9(3): 74–92

Acknowledgements

This work was supported in part by the National Natural Science Foundation of China (Grant No. 51675279), the China Postdoctoral Science Foundation funded project (Grant Nos. 2014M551593 and 2015T80553), and the Natural Science Foundation of Jiangsu Province in China (Grant No. BK20141402). The author also wants to express his appreciation to Prof. B. Yao for hosting his visit at Purdue University from October 2010 to October 2011, and the guidance in adaptive and robust design.

RIGHTS & PERMISSIONS

2018 Higher Education Press and Springer-Verlag GmbH Germany