Robust Adaptive Control for Hydraulic Servosystems

[+] Author and Article Information
A. R. Plummer

Department of Mechanical Engineering, University of Leeds, Leeds, U.K.

N. D. Vaughan

School of Mechanical Engineering, University of Bath, Bath, U.K.

J. Dyn. Sys., Meas., Control 118(2), 237-244 (Jun 01, 1996) (8 pages) doi:10.1115/1.2802309 History: Received March 23, 1990; Revised February 01, 1994; Online December 03, 2007


The application of an indirect (self-tuning) adaptive controller to an electro-hydraulic positioning system is described. The underlying control method is pole placement, with the addition of a demand filter to allow noise effects to be reduced without degrading closed-loop performance. Recursive least squares is used to estimate the plant parameters, but the data is pre-filtered to reduce bias. A novel covariance trace limiting algorithm provides estimator reliability despite periods of insufficient excitation. Off-line system identification is employed to help controller design for the electro-hydraulic servosystem. The resulting controller performs well, and adapts rapidly to changes in load stiffness and supply pressure.

Copyright © 1996 by The American Society of Mechanical Engineers
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