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Research Papers

Discontinuous Projection-Based Adaptive Robust Control for Displacement-Controlled Actuators

[+] Author and Article Information
Enrique Busquets

School of Mechanical Engineering and
Department of Agricultural and Biological Engineering,
Purdue University,
West Lafayette, IN 47907
e-mail: ebusquet@purdue.edu

Monika Ivantysynova

School of Mechanical Engineering and
Department of Agricultural and Biological Engineering,
Purdue University,
West Lafayette, IN 47907
e-mail: mivantys@purdue.edu

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received October 3, 2014; final manuscript received March 13, 2015; published online April 21, 2015. Assoc. Editor: Heikki Handroos.

J. Dyn. Sys., Meas., Control 137(8), 081007 (Aug 01, 2015) (10 pages) Paper No: DS-14-1396; doi: 10.1115/1.4030064 History: Received October 03, 2014; Revised March 13, 2015; Online April 21, 2015

Displacement-controlled (DC) actuation is a revolutionary fluid power technology which has been utilized on a broad range of applications demonstrating substantial fuel savings and significant performance improvements over traditional valve-controlled (VC) systems. In this paper, a nonlinear discontinuous projection-based adaptive controller is synthesized to achieve precision motion control of DC actuators. The controller is formulated to compensate for uncertain parameters through online parameter adaptation. Additionally, its structure allows for the inclusion of unmodeled nonlinearities such as friction and external loads and disturbances. Transient performance and tracking accuracy are also guaranteed in the presence of both parametric uncertainties and uncertain nonlinearities, and asymptotic tracking is achieved in the presence of parametric uncertainties. To evaluate the synthesized controller, a test bench comprising a large hydraulically powered end-effector was utilized. The actuator, a vane-type hydraulic motor is mechanically connected to a large robotic arm with a wide range of motion. Measurement results demonstrate that the synthesized controller achieves the aforementioned advantages while attaining a high degree of motion accuracy.

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References

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Figures

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Fig. 1

DC single rod hydraulic cylinder

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Fig. 2

DC hydraulic circuit

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Fig. 3

Test rig mechanical system

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Fig. 6

Actuator trajectory

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Fig. 7

Actuator position error (e1)

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Fig. 8

Actuator velocity error (e2)

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Fig. 9

Actuator virtual input torque error (e3)

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Fig. 10

Normalized control effort for ramp command

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Fig. 11

Actuator pressures (p1 and p2)

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Fig. 12

Normalized parameter estimates

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Fig. 13

Actuator sinusoidal trajectory

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Fig. 14

Actuator position error (e1)

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Fig. 15

Actuator velocity error (e2)

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Fig. 16

Actuator virtual torque input error (e3)

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Fig. 17

Normalized control effort for sinusoidal command

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Fig. 18

Actuator pressures, p1 and p2, for sinusoidal command

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Fig. 19

Normalized parameter estimates

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