Synchronization Motion Control for Quad-cylinder Lift Systems with Acceleration Coupling

Haibin Dou1 Shaoping Wang1,2 Wenkui Zhao1 1. School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China 2. Science and Technology on Aircraft Control Laboratory, Beijing 100191, China douhaibin1983@yahoo.com.cn shaopingwang@vip.sina.com
AbstractHigh-performance robust synchronization motion control for quad-cylinder electro-hydraulic lift systems with parametric uncertainties and uncertain nonlinearities is considered. Adaptive Fuzzy logic systems are introduced as an approximator to counteract the effects of coupling among acceleration terms. Robust adaptive control by backstepping is used to handle parametric uncertainties and uncertain nonlinearities in quad-cylinder synchronization lift systems. In order to address the problem of explosion of terms caused by using backstepping techniques, dynamic surface control techniques are introduced. Simulation results on a quad-cylinder synchronization lift system verified the effectiveness of the proposed approach. Keywordsdecoupled control, fuzzy logic systems, adaptive control, robust control

I. INTRODUCTION Traditional synchronizing lifing system is widely used in heavy-duty application [1], in which the synchronizing adjustment is carried out without considering the leveling time. However in some special applications such as missile lifting equipment, it is necessary to lift the heavy load in short time. So the synchronous adjustment with high speed of multiple hydraulic actuators under nonlinear factors and variant load must be studied. Due to the standard design, this paper focuses on the synchronizing quad-cylinder lift system adjustment in this paper. Due to uneven loading and the inherent differences in multiple hydraulic circuits and components, the lift distance among the linear actuators will be different under open-loop operation. If close-loop operation is used in synchronizing control, the interactions among input channels will be more serious than open-loop operation. The interactions among input channels arise from geometric constraint relations between the lift distance among the linear actuators and posture of load. It brings difficult challenge in controller design and control performance. So a decoupled approach is needed to address the problem. Synchronization lift systems are multi-input/multi-output (MIMO) nonlinear systems, the control problem is very complicated due to the couplings among various control channels. So there are only a few literatures on synchronization lift systems. Sun and Chiu [2] proposed a 2-step design approach to address the motion synchronization problem for a multi-cylinder electro-hydraulic (EH) system. But couplings are not considered. In recent years, a great deal of progress has

been made in decoupling theories. Chen and Khalil [3], Sastry and Isidori [4] not only realized decoupling among input channels based on feedback linearization, but also combined with other robust approaches to handle parametric uncertainties in the input coupling matrix. However, to remove the couplings of system inputs, the decoupling matrix is required to be invertible. Therefore, the possible singularity when calculating the inverse of the decoupling matrix should be avoided. Ge et al. [5] pointed out that a projection algorithm can be used to avoid the possible singularity problem. However, a priori knowledge for the feasible parameter set is needed and no systematic procedure is available for constructing such a set for a general plant[6]. As an alternative, intelligent approaches were developed to deal with coupling among various inputs by neural networks (NNs)[5], or fuzzy-logic-system (FLS) [7]. They are mostly used as an approximator to counteract the effects of various inputs. Especially by use of the Lyapunov-synthesis approach, adaptive intelligent methods can provide stabilizing controllers. Ge et al. [5] proposed an adaptive neural control method for a class of uncertain MIMO nonlinear systems. Adaptive neural technique is used to approximate the unknown nonlinearities which contain coupling in the input matrices and interconnections in the systems. Li et al. [8] proposed a robust adaptive fuzzy tracking control for a class of MIMO systems. The coupled interconnections in systems are counteracted by using Takagi-Sugeno (T-S) fuzzy systems. But the couplings among input channels are not considered. Lee [9] proposed a robust adaptive fuzzy control for a class of MIMO nonlinear systems which is different from Li. He claimed that the proposed approach can address the couplings among input channels. Unlike the previous decoupling approaches, a transformable decoupling method is proposed in this paper. The couplings among acceleration states are usually common in real engineering problems, especially in robot control. If we get the inverse coefficient matrix of acceleration states, we can transform the models which are couplings among acceleration states to those are couplings among input channels. But additional efforts have to be made to avoid the possible singularity problem. Moreover, it complicates the design of controllers. So the couplings among acceleration states are directly considered by using fuzzy logic systems in this paper. In order to reduce the number of required states in FLS, a dynamic surface method is utilized.

978-1-4673-0311-8/12/$31.00 2012 IEEE 978-1-4673-0311-8/12/$31.00 2012 IEEE

752

B4 B3

z X
B1
P

B2

m4

f4

x3
m3

f3

x4
x1
m1 f1

x2
m2 f2

following practical assumption is made: assuming that the moment arm Li of individual cylinder dose not change during the motion of the load, the points on the load that contact the cylinders do not vary with the rotation of the load. Under above assumption, the deformation of the load caused by synchronization errors can not be ignored. It can be considered as uncertain nonlinearities in the design of controller. By using knowledge of geometric, we can get the relations between the lift distance among the linear actuators and posture of load as follow:
L2 L4 / L L / L 4 L2 / L L1 L4 / L L1 L3 / L L4 / L L3 / L L1 / L L1 / L x L2 L3 / L 1 x p x2 = tan L3 / L x L2 / L 3 tan x 4

Figure 1. Diagram of Acting Forces in a Quad-Cylinder Hydraulic Lift System

(1)

In this paper, a robust adaptive decoupled control scheme which is performed by incorporating fuzzy logic systems and DSC techniques is extended to the quad-cylinder synchronization lift systems in the presence of parametric uncertainties and uncertain nonlinearities. The four cylinders are controlled by four individual servovalves. The hydraulic circuit diagram of the system is shown in Figure 1. Robust adaptive control by backstepping is used to handle parametric uncertainties and uncertain nonlinearities in quad-cylinder synchronization lift systems. Fuzzy logic systems are introduced as an approximator to counteract the effects of coupling among acceleration states. DSC techniques are used to address the problem of explosion of terms. Simulation results on a quad-cylinder synchronization lift system verified the effectiveness of the proposed approach. The rest of this paper is organized as follows. System modeling is presented in Section followed by the discussion of the decoupled control design. A robust adaptive controller by backstepping is discussed in detail in Section followed by the discussion of simulation results. Conclusions are presented in Section . II. SYSTEM MODELING

Where xp represents the position of the center of gravity of the load (xp=0 when the load is on the ground). And L=(L1+L2)(L3+L4). For simplicity, the equation (1) can be expressed as
x1 x xp L1 2 = tan x3 tan x4

(2)

The differentiation of equation (2) can be expressed as

x1 x 1 L1 2 = sec2 x3 x4 xp sec 2

(3)

The differentiation of equation (3) can be expressed as

x1 xp x L1 2 = N + L 2 x3 x4

(4)

Where

A. Coupling Characteristics Modeling

x4
' B4

' 3

P B
' 1

'

B3'

' A2 ' B2 L4

x3

0 N = 2sec 2 ( ) tan( ) 2 1 cos L2 = cos

2sec 2 ( ) tan( ) 2

A1'
L2

x1 o

L1

L3 x2

The equations (1)-(3) describe the couplings among the linear actuators.

Figure 2. Diagram of geometric constraint relations in Quad-Cylinder Hydraulic Lift System

The coordinate of load is shown in Figure 2. When the synchronization errors are zero, i.e., the pitch angle =0 and the roll angle =0, the load is in the x-o-y plane. When the synchronization errors are not zero, the load is in the plane formed by Ai. The point P or P represents the center of gravity of the load. Li (i=1,2,3,4) is the moment arm for fi in Figure 2 with respect to rotation of the load. xi (i=1,2,3,4) represents the displacement of individual cylinder. The

B. Dynamic modeling Figure 2 shows the forces acting on the hydraulic cylinders. From Newtons second law and the conservation of angular momentum, the following equations can be obtained to represent the motion of the load along gravity direction and rotations about the axes B2B4 and B1B3:
M J xp 1 = L3 J L1 1 L3 L2 1 L4 L1 f Mg 1 1 f2 0 L4 f 0 L2 3 f 4 0

(5)

Where M is the mass of the load and g is the gravitational constant. fi represents the reaction force acting on cylinder i

753

(i=1,2,3,4) and J (J) represents the rotation moment of inertia of the load about the axis B2B4 (or the axis B1B3). Consider the forces fi (i=1,2,3,4) acting on the cylinders, the equations of motion for the cylinders can be represented by: mi xi = PLi Ai Bi xi f i Ffi mi g + f i , i = 1, 2,3, 4 (6) Where PLi=P1i-P2i denotes the load pressure of cylinder i, P1i is pressure inside the forward chamber of cylinder i, P2i is pressure inside the return chamber of cylinder i, Ai represents the effective piston area. mi is the piston mass of cylinder i. Ffi is the modeled friction and Bi is the viscous friction coefficient. f i is the uncertain nonlinearities due to external disturbances, the unmodeled friction forces, interaction forces due to deformation of the load and other hard-to-model terms. The fluid that flows into each cylinder is controlled by a servo-valve. The pressure dynamic in each cylinder can be represented by the following equation[10]: Vti PLi = - Ai xi - Ctmi PLi + QLi , i = 1, 2,3, 4 (7) 4b e Where e is the bulk modulus of the working fluid, Vti represents the total volume from the output port of the valve to the respective cylinder i chamber and Ctmi is the coefficient of the internal leakage of the cylinder i. QLi represents the load flow. QLi is related to the spool valve displacement of the servo-valve xvi, by [10] P - sign( xvi ) PLi QLi = Cdi k i xvi s , i = 1, 2,3, 4 (8) r Where Cdi is the discharge coefficient, i is the spool valve area gradient, and ps is the supply pressure of the fluid. The effects of servo-valve dynamics have been include by some researchers, but this requires an additional sensor to obtain the spool position. So the spool valve displacement xvi is directly proportional to the spool position in this paper, thus the following equation is given by xvi = K vi ui (9) Where Kvi is a positive constant and ui is input voltage. In the Equation (5), it is clear that there are 3 DOF, but more than three forces. There is one redundant actuation. The redundant actuation represents that there exists an infinite number of forces fi corresponding to a given posture of the load. It complicates the quad-cylinder synchronization motion control problem. Suitable optimization schemes should be introduced to address the complexity due to the redundancy issue.
C. Actuator Redundancy Issue A well-known mathematical technique traditionally used to solve underdetermined linear problems is the pseudo-inverse technique. Compared with other optimization schemes the pseudo-inverse formulation can efficiently reduce the computational burden and greatly reduce the conceptual complexity of the solution. For simplicity, the equation (5) can be expressed as Mxq = Lf G (10) Where x q = x p , , , f = [ f1 , f 2 , f 3 , f 4 ]T . The pseudo-inverse of L, L+ yields the minimum norm solution and a solution to the homogeneous system of equation
T

(10) by:

f = L+ (Mxq + G) + (I - L+ L)z = fp + fh

(11)

Where z is a 4 1 arbitrary vector. The minimum norm solution fp can be used to decrease the magnitude of the forces fi to some extent. And the solution fh can be designed to satisfy a secondary system performance goal. It is desired that fh is zero in this paper. So we make z=0. The equation (11) can be expressed as (12) f = L+ (Mxq + G) + T T -1 Where L =L (LL ) . From equation (4) x q can be written as

xq = L21 (L1 x - N)
T

(13)

Where x=[x1, x2, x3, x4] . Substituting equation (13) into equation (12), we can get vector f: (14) f = L+ ML21 (L1 x - N) + L+ G Substituting equation (14) into equation (6), the coupled dynamic models can be expressed as (M 0 + N 2 )x = AP Bx + N1 G1 F f + f (15) + Where N1=L ML2-1N, N2=L+ML2-1L1,G1=L+G+diag[mig]T Equation (15) describes a nonlinear four-input four-output system, where the four cylinders are coupled through the matrix M0+N2. In order to facilitate the process of designing the controller, equation (15) is divided into four vectors. Define state variables of the ith control channel xi=[xi1, xi2, xi3]. Combined with equations (7)-(9), the ith subsystem can be shown in a state-space form as xi1 = xi 2

xi 2 = xi3 =

1 [ Ai xi3 Bi xi 2 fic + N1i G1i Ffi ] + di (xi1 , xi 2 , t) (mi + ai )

4ei (Kqi Kvi ui Ps sign(ui )xi3 Ctmi xi3 Ai xi 2 ), i = 1,2,3,4 Vti (16) Where ai is the diagonal element of the matrix N2, f ic = (a j x j 2 + am xm 2 + an xn 2 ) is the coupling from the other three control channels. xj2 (xm2, xn2) is the second state variable of the other three control channels. N1i is the ith component of the vector N1. G1i is the ith component of the vector G1. ui is control input of the ith control channel. Kqi is defined as C k (17) K qi = di i r
III. DECOUPLING ISSUE

The coupled term fic can be considered as a nonlinear function with parametric uncertainties. So an adaptive fuzzy logic system is introduced as an approximator to counteract the effects of fic in this section. A fuzzy logic system is composed of three main components, fuzzy rule base, fuzzification and defuzzification operators. The fuzzy rule base is made up of the following inference rules: R i : IF x1 is F1i and x2 is F2i and then y is B i (i = 1, 2, , N) and xn is Fni ,

754

Where x=[x1, , xn]TRn and yR are the input and output of the fuzzy systems, respectively, Fji and Bi are fuzzy sets corresponding to xj and y. N is the number of rules in the fuzzy rule base. Through singleton function, center average defuzzification and product inference, the fuzzy logic system can be expressed as y ( x) =

= * (27) The adaptive laws for adjusting the parameter vectors and will be designed to counteract the effects of coupling term fic.
IV. ROBUST ADAPTIVE CONTROLLER DESIGN In this section, a robust adaptive controller combined with FLS and DSC will be presented for the ith control channel. The controllers for the other three control channels can be designed in the same way. The goal is to make the four linear hydraulic actuators track the same control command as closely as possible to realize the synchronization motion of quadcylinder lift systems.

i =1 Where yi = max yi R Bi ( y ) , F i ( x j ) and Bi ( y ) are fuzzy

i j
j

y
N i =1 N i n

n j =1

F ( x j )
i j

(x j ) j =1 F

(18)

membership functions of xj and y. Define the fuzzy basis functions as

i
Denote:

(x ) = ( x )
n j =1 F ji j N n i =1 j =1 F ji j

(19)

T = [ y1 , y2 , , yN ] = [1 , 2 , , N ] (x) = [1 (x), 2 (x), , N (x)]T The fuzzy logic system (18) can be rewritten as y (x) = T (x) (20) Lemma1. Let h(x) be a continuous function defined on a compact set . Then for any constant >0, there exists a fuzzy logic system (20) such as sup h( x) T (x) (21)
x

A. Controller design In general, the subsystem (16) is subjected to parametric uncertainties due to the variations of ai, Bi, Ffi, ei, Kqi, Kvi and Ctmi. For simplicity, in this paper, we only consider the parametric uncertainties due to Bi, ei, Kqi, Kvi and di. Other parametric uncertainties can be dealt with in the same way if necessary. In order to use parameter adaptation to improve performance, it is necessary to linearly parametrize the statespace equation (16) in terms of a set of unknown parameters. To achieve this, define the unknown parameter set i=[i1, i2, i3]T as i1=Bi/(mi+ai), i2= di, i3=4eiKqiKvi/Vti. The statespace equation (16) can be linearly parametrized in terms of i as xi1 = xi 2 xi 2 = Ai xi 3 i1 xi 2 + f ic + N1i G1i Ffi + i 2 + di xi 3 = i 3 ( i Ctmi xi 3 Ai xi 2 ) ui = i / Ps sign( i ) xi 3

It has been proven that the FLS (20) can approximate any smooth function over a compact set to arbitrarily any accuracy. So the coupled term fic can be expressed as f ic (x) = *T (x) + *, x (22) Where * is the optimal estimation normalization factor for fic, * is the optimal estimation error and *>0. The inputs of (22) are the derivative of xj2, xm2 and xn2. In order to avoid additional sensors, a dynamic surface method is introduced. Introduce a new variable sk (k=j,m,n), and let xk2, (k=j,m,n) pass through a first-order low-pass filter with constant k (k=j,m,n) as follows: k sk + sk = xk 2 , sk (0) = xk 2 (0) (23) By defining the output error of this filter as k= xk2-sk, it yields sk = k / k , and

(28)

Where Ai = Ai / (mi + ai ) , f ic = f ic / (mi + ai ) ,

N1i = N1i / (mi + ai ) , G1i = G1i / (mi + ai ) , Ffi = Ffi / (mi + ai ) , di = di i 2 , Ctmi = CtmiVti / 4 ei K qi K vi , Ai = AVti / 4 ei K qi K vi i The following practical assumption is made: assuming that the extent of parametric uncertainties and uncertain nonlinearities are known, i.e., i i {i : i min < i < i max } (29) di ( xi1 , xi 2 , t ) id ( xi1 , xi 2 , t )

k =

k + xk 2 k

(24)

The signal sk will be used as the inputs of (22) to counteract the effects of fic. Define the error of the estimation normalization factor: = * (25) Where is the actual estimation factor vector. Define *|z| as the upper boundary of the compensation for estimation error *, that is * * z (26) Where z is the tracking error, it will be given in the design of robust adaptive controller. Define the estimation error of *

Where imin=[i1min, i2min, i3min]T, imax=[i1max, i2max, i3min]T and id(xi1,xi2,t) are known. Physically, i>0. So it is assumed that imax>0 and imin>0.

Step1: xi2 can be thought as the virtual control input to the first equation of (28). Then a control function 1 can be constructed for the virtual control input xi2 such that the output tracking error z1=xi1-x1d converges to zero or a small value with a guaranteed transient performance. x1d is the desired trajectory to be tracked by xi1. Differentiating z1 as (30) z1 = xi 2 x1d The resulting control function 1 is given by 1 = 1 z1 + x1d (31)

755

Let z2 = xi 2 1 denote the input discrepancy. For the positive-semidefinite (p.s.d) function V1 defined by V1 = (1 / 2)1 z12 , substituting the control function (31) into the derivative of V1, it can be shown that V1 = 1 z1 ( xi 2 xid ) = 11 z12 + 1 z1 z2 (32) Where 1 is any positive scalar, 1 is a positive weighting factor. Step2: In step 1, as seen from (32), if z2=0, output tracking would be achieved. Therefore, Step 2 is to synthesize a virtual control function 2 such that z2 converges to zero or a small valve with a guaranteed transient performance as follows. From (28) and (32) z2 = xi 2 1 = Ai xi 3 i1 xi 2 + f ic + N1i G1i Ffi + i 2 1 + di (33) The resulting control function 2 and adaptive function 2 are given by 2 = 2 a + 2c + 2 s 2 a = (1 / Ai )(i1 xi 2 N1i + G1i + F fi i 2 + 1 z1 )

The equation (43) becomes 2 V2 11 z12 2 k 2 s1 z2 + 2 A1 z2 z3

+
k = j , m, n

[((1 + (

M k2 M 2 2 x 2 )) k2 ) + k k k 2 ] + 42 2 42 2 42 2 M k2 (41) x M ) ] + 42 2 M 42 2
2 k2 2 k 2 k 2 k

2 11 z12 2 k2 s1 z2 + 2 A1 z2 z3

k = j , m, n

[ k2 (1

2 11 z12 2 k2 s1 z2 + 2 A1 z2 z3 + 42 2 Step 3: Similar to (33), the z3 dynamic can be obtained as z3 = xi 3 2 = i 3 ( i Ctmi xi 3 Ai xi 2 ) 2 (42) In (42), differentiating 2 is very complex. It is so called the problem of explosion of terms. Let 2 pass through a firstorder low-pass filter with constant 2 as follows: 2 2 d + 2 d = 2 , 2 d (0) = 2 (0) (43) By defining the output error of this filter as 2=2-2d, it yields 2 d = 2 / 2 , and

2 c = (1 / Ai )(T (x k ) z2 ) 2 s = 2 s1 + 2 s 2 2 s1 = (1 / Ai )k2 s1 z2 , k2 s1 C 2 22 + 2 2 = 22 z2 , 2 > 0 (34) Where C2 a positive-definite (p.d.) constant diagonal matrix, 2 is any positive scalar, 2 is a positive weighting factor, and 2 = [ xi 2 ,1, 0] (35) In (34), 2a functions as an adaptive control law used to achieve improved model compensation through online parameter adaptation combined with discontinuous projection, 2c as a adaptive fuzzy logic control law used to counteract the effects of coupling term fic, and 2s as a robust control law, in which 2s is any function satisfying the following conditions: z2 ( Ai 2 s 2 T 2 + di ) 2 z2 2 s 2 0 (36) i Where 2 is a positive design parameter which can be arbitrarily small, i denotes the estimation error. Let z3=xi3-2 be the input discrepancy. Consider the augmented p.s.d function V2 given by 1 1 T 1 2 1 2 V2 = V1 + 2 z2 + + + k2 (37) 2 2 1 22 2 k = j , m, n Substituting the control function (34) into the derivative of V2, it can be shown that 2 V2 = 11 z12 2 k2 s1 z2 + 2 A1 z2 z3
+ 2 z2 ( Ai 2 s 2 T 2 + di ) + i 1
2

2 + 2 = 2 + D ( xi1 , xi 2 , x j , xm , xn , , , i ) (44) 2 2 Using 2d instead of 2 in (42), equation (42) becomes: z3 = i 3 ( i Ctmi xi 3 Ai xi 2 ) 2 d (45) 2 =
The resulting control function i and adaptive function are given by i = ia + is

ia = Ctmi xi 3 + Ai xi 2 +
1

1 i 3

( 2 d 2 A1 z 2 )

is = vis1 + vis 2 is1 = i 3,min

k3 s1 z3 , k3 s1 C 3 33 + 3

= 2 + 33 z3 , 3 > 0 (46) Where3>0 is a constant, and 3 = [0, 0, ia Ctmi xi 3 Ai xi 2 ]

In (46), is2 is a robust control law satisfying the following conditions: z3 (i 3 is 2 i T 3 ) 3 z3 is 2 0 (47) in which 3 is a design parameter. Consider the augmented p.s.d function V2 given by 1 1 2 2 (48) V3 = V2 + 3 z3 + 2 2 2 Substituting the function (45) and (46) into the derivative of V3, it can be shown that 2 2 V3 11 z12 2 k2 s1 z2 + 42 2 3 i 3 k3 s1 z3 i 3,min (49) +3 z3 (i 3 is 2 iT 3 ) 22 / 2 + 2 D Choose the time constant 2 of filters as 2 MD 1 = 1+ 43 3 2 So the equation (49) becomes

T +

(38)

+ 2 z2 ( f ic T (x k ) z2 ) + Choose the time constant of filters as M k2 1 = 1+ k 42 2 If the adaptive laws are chosen as

k = j , m, n

k k

(39)

(50)

2 = = 2 1 (x k ) z2 = = 2 2 z2

(40)

756

2 V3 11 z12 2 k2 s1 z2 + 42 2 3

i 3 k z2 i 3,min 3 s1 3

2 MD M 2 2 D2 2 ) 2 + D 2 2 43 3 43 3 M D 2 2 11 z12 2 k2 s1 z2 + 42 2 3 i 3 k3 s1 z3

+ 23 3 (1 +

i 3,min

(51)

synchronization errors are shown in Figure 3, which angle has the steady absolute maximum of 0.2 and angle has the steady absolute maximum of 2.86. Using the proposed controller, rotation angle , are shown in Figure 4. As seen, angle has the steady absolute maximum of 2.16 and angle has the steady absolute maximum of 4.7. The synchronization performance is improved greatly. VI. CONCLUSION In this paper, a robust adaptive decoupled controller has been developed for quad-cylinder synchronization lift systems. The proposed controller takes into account the couplings among acceleration states and uses adaptive fuzzy logic systems to counteract the effect of couplings. The parameter uncertainties and uncertain nonlinearities are effectively handled via certain robust adaptive control laws for a guaranteed robust performance. Due to backstepping technique used in the design of controller, dynamic surface control technique is utilized to address the problem of explosion of terms. The controller achieves high synchronization accuracy and final tracking accuracy for each cylinder in the present of parametric uncertainties and uncertain nonlinearities. The simulation results verify the effectiveness of the proposed robust adaptive decoupled control strategy. ACKNOWLEDGMENT The authors would like to appreciate the support of Program111 of China and Natural Science Foundation (51175014). REFERENCES
[1] Hong Sun, George T-C Chiu. Motion Synchronization for DualCylinder Electrohydraulic Lift Systems. IEEE/ASME Transactions on Mechatronics. 2002, 7(2) :171-181. [2] Hong Sun, George T-C Chiu. Motion Synchronization for MultiCylinder Electro-Hydraulic System. Proceeding of 2001 ASME international Mechanical Engineering Congress and Exposition. 2001, 1-11. [3] F. C. Chen and H. K. Khalil, Adaptive control of a class of nonlinear discrete-time systems using neural networks, IEEE Trans. Automat. Contr. 1995, 40(5) : 791-801. [4] S S Sastry, A Isidori. Adaptive control of linearizable systems. IEEE Trans. Automat. Contr., 1989, 34: 11231131. [5] Shuzhi Sam Ge, Cong Wang. Adaptive Neural Control of Uncertain MIMO Nonlinear Systems. IEEE Transaction on Neural Networks. 2004, 15(3):674-692 [6] P A Ioannou, J Sun. Robust Adaptive Control. Englewood Cliffs, NJ: Prentice-Hall, 1995. [7] L X Wang. Stable adaptive fuzzy control of nonlinear systems. IEEE Transaction on Fuzzy System. 1993, 1(2):146155. [8] Tie-Shan Li, Shao-Cheng Tong, Gang Feng. A Novel Robust AdaptiveFuzzy-Tracking Control for a Class of Nonlinear Multi-Input/MultiOutput Systems. IEEE Transaction on Fuzzy System. 2010, 18(1):150160. [9] Hyeongcheol Lee. Robust Adaptive Fuzzy Control by Backstepping for a Class of MIMO Nonlinear Systems. IEEE Transaction on Fuzzy System. 2011, 19(2): 256-275. [10] H E Merrit. Hydraulic Control Systems. New York: Wiley, 1967.

D2 M 2 2 2 + 23 3 2 (1 2 ) D 2 M D 43 3
2 2 11 z12 2 2 z2 3 3 z3 + 42 2 + 23 3 Using equation (46) and the last equation of (28), the input control signals can be achieved.

V.

COMPARATIVE SIMULATIONS

Figure 3. angle and without decoupling

Figure 4. angle and with proposed method

A 1Hz sinusoidal trajectory of xd=0.5sin(2pit) is given to each control channel. If the couplings among acceleration states are neglected, only adaptation laws and robust control laws are used, the rotation angle and caused by

757

Powered by TCPDF (www.tcpdf.org)