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Symmetry 2018, 10(5), 155; https://doi.org/10.3390/sym10050155

Force Loading Tracking Control of an Electro-Hydraulic Actuator Based on a Nonlinear Adaptive Fuzzy Backstepping Control Scheme

1,2
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1,2,* , 3,4, 3,4
,
1,2
and
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1
School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou 221116, China
2
Jiangsu Key Laboratory of Mine Mechanical and Electrical Equipment, China University of Mining and Technology, Xuzhou 221116, China
3
Zhengzhou Institute of Mechanical and Electrical Engineering, Zhengzhou 450015, China
4
Henan Key Laboratory of Underwater Intelligent Equipment, Zhengzhou 450000, China
*
Author to whom correspondence should be addressed.
Received: 14 February 2018 / Revised: 27 April 2018 / Accepted: 3 May 2018 / Published: 11 May 2018
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Abstract

In this article, a nonlinear adaptive fuzzy backstepping controller combined with an adaptive backstepping controller and an adaptive fuzzy controller is proposed for real-time tracking control of an electro-hydraulic force loading system. Firstly, a nonlinear dynamic model for the electro-hydraulic force loading system is built with consideration of parameter uncertainties and external disturbances. Then, the adaptive backstepping controller is employed to obtain desired control output for the force loading control system considering parameter uncertainties and external disturbances. Furthermore, an adaptive fuzzy control scheme is designed to adjust uncertain control parameters based on adaptive fuzzy system to cope with the chattering condition that results from the overwhelming external disturbances. The stability of the overall system with the proposed control algorithm can be proved by Lyapunov stability theory. Finally, an electro-hydraulic force loading experimental system with xPC rapid prototyping technology is carried out to verify the effectiveness of the proposed nonlinear adaptive fuzzy backstepping controller. Experimental results verify that the proposed control method exhibit excellent performances on force loading tracking control of the electro-hydraulic force loading experimental system compared with a conventional proportional-integral-derivative (PID) controller with velocity feedforward and adaptive backstepping control schemes. View Full-Text
Keywords: electro-hydraulic force loading system; adaptive backstepping controller; adaptive fuzzy controller; parameter uncertainties; external disturbances electro-hydraulic force loading system; adaptive backstepping controller; adaptive fuzzy controller; parameter uncertainties; external disturbances
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Li, X.; Zhu, Z.-C.; Rui, G.-C.; Cheng, D.; Shen, G.; Tang, Y. Force Loading Tracking Control of an Electro-Hydraulic Actuator Based on a Nonlinear Adaptive Fuzzy Backstepping Control Scheme. Symmetry 2018, 10, 155.

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