Parametric adaptive control method
- Publication Type:
- Nonlinear Control Techniques for Electro-Hydraulic Actuators in Robotics Engineering, 2017, pp. 97 - 120
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© 2018 by Taylor … Francis Group, LLC. To the best of the authors' knowledge, the aforementioned backstepping and adaptive controllers need to deal with some derivatives of virtual control variables, which exist in backstepping iteration. These derivatives can be computed by the system state error model and parametric estimated law established in recursive controller design . Since this computed process easily leads to derivative explosion, few research are focused on the quality of these virtual control variables (i.e., data validation). If these virtual control variables are not available, especially violent, both the stability and dynamic performances of EHS will be significantly decreased. Thus, in this chapter, a parametric adaptive backstepping control method  is presented based on state feedback to estimate some unknown parameters in a hydraulic model. Then, a decayed memory filter is proposed to compute the derivatives value of virtual control variables in the backstepping control design. The effectiveness of the proposed control is verified by a comparative experimental study.
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