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ISA Transactions
journal homepage: www.elsevier.com/locate/isatrans
School of Aeronautics and Astronautics, University of Electronic Science and Technology of China, Chengdu, 611731, China
Center for Power Transmission and Motion Control, Department of Mechanical Engineering, University of Bath, Bath BA2 7AY, UK
c
The State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou, China
d
School of Mechatronics Engineering, University of Electronic Science and Technology of China, 611731 Chengdu, China
b
art ic l e i nf o
a b s t r a c t
Article history:
Received 26 October 2015
Received in revised form
4 January 2016
Accepted 8 February 2016
This paper was recommended for publication by Dr. A.B. Rad
Keywords:
Parametric adaptive estimation
Electro-hydraulic system
Backstepping control
Decayed memory lter
1. Introduction
Electro-hydraulic servo systems (EHSs) are nowadays widely
used in mechatronic control engineering, due to their higher loadbearing and small size-to-power ratio [1]. One of the fundamental
difculties in hydraulic control and EHS operations is undesirable
dynamic behavior of the established controller due to the ignorance
of parametric uncertainties and unknown disturbance. Some parametric uncertainties are almost caused by unknown viscous
damping, load stiffness, physical characteristics of valve, bulk
modulus [2]. Since some unknown parametric variation may be
signicant in different working conditions (i.e., the phenomenon
such as oil temperature variations, pressure-ow characteristics,
hysteresis in ow gain characteristics, oil leakage, characteristics of
valves near null) [3], many state/output feedback controllers cannot
be well established to guarantee the dynamic performance of EHS.
Thus, the parametric estimation is one available method to obtain
unknown parameters by state observer construction integrated with
n
Corresponding author at: School of Aeronautics and Astronautics, University of
Electronic Science and Technology of China, No. 2006, Xiyuan Ave, West Hi-Tech
Zone, Chengdu 611731, China.
E-mail addresses: guoqinguestc@uestc.edu.cn (Q. Guo),
sunping0944@163.com (P. Sun), yinjm1028@163.com (J.-m. Yin),
ty267@bath.ac.uk (T. Yu), jdan2002@uestc.edu.cn (D. Jiang).
http://dx.doi.org/10.1016/j.isatra.2016.02.009
0019-0578/& 2016 ISA. Published by Elsevier Ltd. All rights reserved.
Please cite this article as: Guo Q, et al. Parametric adaptive estimation and backstepping control of electro-hydraulic actuator with
decayed memory lter. ISA Transactions (2016), http://dx.doi.org/10.1016/j.isatra.2016.02.009i
decreased. Thus, this paper presents a parametric adaptive backstepping control method based on state feedback to estimate some
unknown parameters in hydraulic model. Then a decayed memory
lter is proposed to compute the derivatives value of virtual control
variables in the backstepping control design. The effectiveness of the
proposed control is veried by a comparative experimental study.
The remainder of this paper is organized as follows. The
dynamic models of EHS and external load are constructed in
Section 2. The parametric adaptive backstepping controller and
the decayed memory lter are designed in Section 3. Then the
related experimental results are demonstrated in Section 4. Finally,
the conclusion is drawn in Section 5.
13
Elbow
10
6
Shoulder
11
12
8
9
Fig. 1. The electro-hydraulic servo control mechanism of Two-DOF robotic arm (1, 4servo valves, 2, 5hydraulic cylinders, 3, 6pistons, 7relief valve, 8xed displacement
pump, 9tank, 10forearm, 11upper arm, 12torso, 13external load).
Please cite this article as: Guo Q, et al. Parametric adaptive estimation and backstepping control of electro-hydraulic actuator with
decayed memory lter. ISA Transactions (2016), http://dx.doi.org/10.1016/j.isatra.2016.02.009i
dy
V t dpL
C tl pL
;
dt
4e dt
where Ksv is the gain of the control voltage u, Tsv is the response
time constant of servo valve.
In Eq. (1), the function sgn( ) should be smoothed in the
derivation of backstepping control, which is replaced by the
hyperbolic tangent function tanh( ) as follows
sgnxv tanhkxv
ekxv e kxv
;
ekxv e kxv
k0;
2f
2f
2 m2
9
8
>
C 2m2f P 1 P 2 P 2 P m2 _ 2 sin 2 m1 ;
>
> 11
>
< C C =2;
12
11
> C 21 m2f P 1 P 2 P 2 P m2 _ 1 sin 2 m1 ;
>
>
>
:
C 22 0;
(
10
11
where m1 is the upper arm mass including cylinder, m2 is the
forearm mass, mf is the load mass, I1 is the inertia of the upper arm
around the shoulder, I2 is the inertia of the forearm around the
elbow, I2f is the inertia of the forearm around the elbow including
load, m2f is the forearm mass with the load mass, m1f is the load
mass of the upper arm, P 1 P 2 is the length of the upper arm, P 1 P m1
is the distance from the upper arm centroid to shoulder, P 2 P m2 is
the distance from the forearm centroid to elbow, and m1 is the
eccentric angle of cylinder to shoulder.
The known mechanical parameters are substituted into (9)
(11), Tu and Tf can be computed. Then the external load FL in (6) is
divided into two items and described as follows
8
T u 1 ; 2
>
>
;
> F Lu 1 ; 2
>
<
l 1 1
12
T f 1 ; 2
>
>
;
F Lf 1 ; 2
>
>
l 2 2
:
where FLu is the load force on shoulder hydraulic actuator, FLf is the
load force on elbow hydraulic actuator, and the dynamic force
arms li i ; i 1; 2 are computed by triangle geometry.
Remark 1. Due to measurement noise and uncertainty disturbance in engineering practice, FLu and FLf are difcult to be
obtained. The computed value in (12) may deviated from the true
value. Thus, these values should be handled by a lter before used
in parametric estimation law.
H 11
H 12
H 21
#
H 22
1
q
;
2
"
;
"
Tu
Tf
C 11
C 12
C 21
C 22
"
;
G1
G2
#
;
8
Please cite this article as: Guo Q, et al. Parametric adaptive estimation and backstepping control of electro-hydraulic actuator with
decayed memory lter. ISA Transactions (2016), http://dx.doi.org/10.1016/j.isatra.2016.02.009i
^ 1 k1 x1 z2 ;
At rst, the state error zi i 1; ; 4 and the parametric estimated error ~ i i 1; 6 are dened as follows
(
z1 x1 x1d ;
14
zi xi i 1 i 2; 3; 4;
~ i i ^ i ;
i 1; ; 6
15
i is the ith
16
2
18
1 is designed as follows
1 c1 z1 x_ 1d ;
26
q
ps tanhkx4 x3 x4 _ 2 :
27
28
the derivative of V3 is
Ap
V_ 3 c1 z21 c2 z22 z2 z3 z3 4 x2 5 x3
m
6
_
_
^_
q
^
^
4~
ps tanhkx4 x3 z4 3 _ 2
4 5 ~ 5 6 ~ 6
0
Ap
z2
@m
k4
k5
^ 6 ps tanhkx4 x3 z4
k6
A
p
ps tanhkx4 x3 3 ^ 4 x2 ^ 5 x3 _ 2
0
0
1
1
_
_
_
q
^ 4
^ 5
^ 6
~ 4 @ x2 z3 A ~ 5 @ x3 z3 A ~ 6 @ x4 z3 ps tanhkx4 x3 A;
k4
k5
k6
c1 z21 c2 z22 z3
^ 6
0
1
29
19
m
c2 m
m ^
z1
z2
1 x1 ^ 2 x2 ^ 3 c1 x2 c1 x_ 1d x 1d ;
Ap
Ap
Ap
Ap
V_ 2 c1 z21 c2 z22 z2 z3 ;
m
V_ 1 z1 z2 1 x_ 1d ;
24
25
17
^ 3 k3 z2 ;
^ 2 k2 x2 z2 ;
20
Ap
x3 1 x1 2 x2 3 c1 x2 c1 x_ 1d x 1d
m
Ap
Ap
z3 2 1 x1 2 x2 3 c1 x2 c1 x_ 1d x 1d ;
m
m
21
31
m
z2 c3 z3 ^ 4 x2 ^ 5 x3 _ 2
Ap
;
3
p
^ p tanhkx x
22
33
q
ps tanhkx4 x3
u _ 3 :
T sv T sv
0
1
0
1
0
1
_
_
_
^ 1
^ 2
^ 3
c1 x_ 1d x 1d ~ 1 @ x1 z2 A ~ 2 @ x2 z2 A ~ 3 @ z2 A:
k1
k2
k3
23
32
34
T sv
x4 T sv
T
c4 z4
_ 3 sv z3 ^ 6
K sv
K sv K sv
K sv
q
ps tanhkx4 x3 ;
35
Please cite this article as: Guo Q, et al. Parametric adaptive estimation and backstepping control of electro-hydraulic actuator with
decayed memory lter. ISA Transactions (2016), http://dx.doi.org/10.1016/j.isatra.2016.02.009i
36
_ 2 z2 1 x_ 1d c2 z3 c2 2
c1 x2 c1 x_ 1d x 1d
_ 3 z3
^ 5
c2 m
^ 1 x1 ^ 2 x2 ^ 3
Ap
c1 m ^
x_ 2 ;
Ap
37
m
c2 z2 z1 c3 x_^ 3 _ 2 ^ 4 x_^ 2
Ap
x_^ 3 2
p ;
^ 6 ps tanhkx4 x3
38
where x_^ 2 and x_^ 3 are estimated by the dynamic model of EHS as
follows
8
< x_^ Ap x ^ x ^ x ^ ;
2
3
1 1
2 2
3
m
:
39
p
:^
^
^
^
x_ 3 4 x2 5 x3 6 ps tanhkx4 x3 x4 :
3.2. Decayed memory lter design
As shown in (37) and (38), although the derivatives _ 2 and _ 3
are computed in backstepping design, the algorithm is still very
complicated. If these derivatives directly used in the controller u,
the robustness of this backstepping controller may decline.
Therefore, a decayed memory lter is designed to re-estimate
these derivatives and ltering the variable parameter 3 mentioned in Remark 1. The lter form is described as follows [32]
8
>
>
>
_^ k 1 T
^ k 1
> E k k
>
c
>
<
2 ; 3 ; 3
40
^
>
^ k ^ k 1 _ k 1 T c G E k
>
>
>
>
>
_^ k
_^ k 1 H E k;
:
Tc
^ k is the estimation
where k is the kth calculated value of ,
^
_
_ , T is the
of k, k is the kth estimation of the derivative
c
2
interval of controller, the lter parameters are G 1 ,
H 1 2 , and the range of the lter factor is (0, 1).
Since the calculated values of 2 and 3 are obtained from (25)
and (31), the estimation values ^ i ; _^ i i 2; 3 are obtained by (40).
From (12), the calculated value of 3 is described as follows
8
F ; T ;
>
>
> 31 Lu 1 2 u 1 2 ;
>
<
m1f
m1f l1 1
41
F
T
>
1
2
Lf
f 1 ; 2
>
>
;
32
>
:
m2f
m2f l2 2
where 31 and 32 represent the two calculated values of the
parameter 3 for two hydraulic actuators. After (41) is substituted
^
into (40), the estimation values ^ 3i ; _ 3i i 1; 2 are obtained.
Then the convergence of the proposed hlter should be anaT
lyzed. If the vector k is dened as k ^ k; _^ k , then the
^ k 1 G^ k 1 1 GT c _^ k 1 Gk:
45
H
Tc
_^ k ^ k 1 1 H_^ k 1 k:
46
Please cite this article as: Guo Q, et al. Parametric adaptive estimation and backstepping control of electro-hydraulic actuator with
decayed memory lter. ISA Transactions (2016), http://dx.doi.org/10.1016/j.isatra.2016.02.009i
_ 3 _ 3 _^ 3 ),
^
_^
3 is the calculated value from (41), 3 and 3 are
the lter outputs.
Due to _ 3 a 0, the Lyapunov function V2 is rewritten as follows
Ap
Ap
0
z3 2 ^ 1 x1 ^ 2 x2 ^ 3 c1 x2
V_ 2 c1 z21 z1 z2 z2
m
m
^_
_
_^
1
2
^ 3 _ 3 ~
3
c1 x_ 1d x 1d ~ 1 ~ 2
k3
k1
k2
Ap
Ap
c1 z21 z2 z1 z3 2 ^ 1 x1 ^ 2 x2 ^ 3
m
m
0
1
0
1
^_
^_
1
2
c1 x2 c1 x_ 1d x 1d ~ 1 @ x1 z2 A ~ 2 @ x2 z2 A
k1
k2
0
1
_
^ 3 _ 3
48
z 2 A:
~ 3 @
k3
_
_
Substituting (47) and ^ 1 and ^ 2 in (24) into (48), we can see
that
Ap
~ 3 _ _
0
3 3 sgn ~ 3 :
V_ 2 c1 z21 c2 z22 z2 z3
m
k3
max
49
d
^
maxt-1 f_ di t _^ i tg and maxt-1 f_ 3 t _ 3 tg, where _ di t
d
j_ i jmax sin 2 t for i 2; 3, _ 3 t _ 3
sin 2 t. The constants
max
_
j_ i jmax and 3
can be estimated in the following simplied
max
controller (55).
Therefore, the revised backstepping controller (52) guarantees
zi i 1; 4 and ~ i i 1; 6 converging to zero. This controller
involves the parametric estimation laws (24), (30), and (47), the
state errors (14), the virtual control laws (19), (25), (50), and the
ltering estimation (40) as shown in Fig. 2.
4. Experiment
In our studies, the Two-DOF robotic arm is employed to implement
and test the performance of the proposed control method. Meanwhile,
several working conditions will be considered when both arms of
robotic are driven simultaneously, or either one joint is run instead.
The comparative experiments are demonstrated by which used
parametric adaptive estimation law and the proposed lter or not.
4.1. Experiment setup
The Two-DOF robotic arm is manufactured by Italian Institute of
Technology shown in Fig. 3. The specic parameters and brands of
main components in the experimental architecture are listed in
3 is revised as follows
m
z2 c3 z3 ^ 4 x2 ^ 5 x3 _^ 2 _ 2 max sgn z3
Ap
:
3
p
^ p tanhkx x
6
50
~ 3 _ _
3 3
k3
max
sgn ~ 3 z3 _ 2 _ 2 max sgn z3 ;
51
_ 3 sv _ 3 max sgn z4
K sv
K sv K sv
K sv
q
T sv ^
z3 6 ps tanhkx4 x3 ;
K sv
u
52
Please cite this article as: Guo Q, et al. Parametric adaptive estimation and backstepping control of electro-hydraulic actuator with
decayed memory lter. ISA Transactions (2016), http://dx.doi.org/10.1016/j.isatra.2016.02.009i
Table 1
The specic parameters and brand of main components.
Element
Type
Marks
Quantity
Servo motor
Fixed displacement pump
Servo valve
Hydraulic cylinder
Relative encoder
Pressure sensor
BSM63N-375
TFH-315
D633-R02K01M0NSM2
LB6-1610-0080-4M
AEDA-3300-BE1
M3041-000006-350BG
BALDOR
Takako
Moog
Hoerbiger
AVAGO
MEAS
1
1
2
2
2
4
Table 2
Hydraulic parameters used in experiments.
Parameter
Value
Cd
xv max
ps
Vt
0.62
0.024 m
7.9 mm
40 bar
Smax
Ap
79 mm
2:01 cm2
1:74 10 5 m3
Ksv
7:9 10 4 m=V
1000 N/m
e
Tsv
2:2 108 Pa
12 ms
2200 Ns/m
K
C tl
m1
mf
I2
m2f
P1 P2
P 2 P m2
2:5 10 11 m3 =s Pa
1.772 kg
1 kg
0:015 kg m2
1.739 kg
0.35 m
0.12 m
Parameter
m2
I1
I2f
m1f
P 1 P m1
m1
Value
800 kg=m3
0.739 kg
0:071 kg m2
0:022 kg m2
3.511 kg
0.16 m
7.9
Please cite this article as: Guo Q, et al. Parametric adaptive estimation and backstepping control of electro-hydraulic actuator with
decayed memory lter. ISA Transactions (2016), http://dx.doi.org/10.1016/j.isatra.2016.02.009i
Please cite this article as: Guo Q, et al. Parametric adaptive estimation and backstepping control of electro-hydraulic actuator with
decayed memory lter. ISA Transactions (2016), http://dx.doi.org/10.1016/j.isatra.2016.02.009i
8
p
T sv
x4
T sv
T
>
>
u
c4 z4
_ 3 sv z3 6 ps tanhkx4 x3
>
>
>
K
K
K
K
sv
sv
sv
sv
>
>
>
m
c m
c m
>
>
>
_ z2 1 x_ 1d c2 z3 c2 2 2 1 x1 2 x2 3 c1 x2 c1 x_ 1d x 1d 1 x_ 2
>
< 2
Ap
Ap
Ap
>
x_ 3 2
m
>
>
_ 3 z3 c2 z2 z1 c3 x_ 3 _ 2 4 x_ 2 5 p
>
>
A
>
p
p
>
6
s tanhkx4 x3
>
>
>
p
>
A
p
>
: x_ 2 x3 1 x1 2 x2 3 x_ 3 4 x2 5 x3 6 ps tanhkx4 x3 x4 :
m
5
10
,
5 107 ,
3
max
max
_ 3
0:01.
max
(4) The lter parameters: 0:7. T c 10 3 s.
4.2. Result of the proposed controller
In order to verify the proposed parametric adaptive backstepping controller in (52), two sinusoidal demands of the cylinder
displacement are selected as xs1d 29 sin 0:6 t mm, xe1d
29 sin t mm. The four state responses, six parametric estimations, and two control voltages of the proposed controllers are
shown in Figs. 46.
Fig. 4 a shows the good displacement tracking responses of two
sinusoidal demands by the proposed controllers. The load pressures measured by pressure sensors are not more than the supply
pressure 40 bar shown in Fig. 4c. Due to larger dynamic load on
the shoulder actuator, the motion frequency of shoulder should be
lower than the elbow. During time slice (0, 0.8 s), the control
saturation arises since the initial tracking error is signicant. After
0.8 s, the spool positions of two servo valves are not exceeded the
saturation 7 xv max , which are similar to the dynamic characteristic of two control voltages us and ue shown in Fig. 6. In the
experiment, the robotic arm motion will generate resonance effect
when the tracking tendency of two joint angles approaches each
55
Please cite this article as: Guo Q, et al. Parametric adaptive estimation and backstepping control of electro-hydraulic actuator with
decayed memory lter. ISA Transactions (2016), http://dx.doi.org/10.1016/j.isatra.2016.02.009i
10
Fig. 7. The comparison result for the demand input xs1d 14:5 sin 2t mm.
Please cite this article as: Guo Q, et al. Parametric adaptive estimation and backstepping control of electro-hydraulic actuator with
decayed memory lter. ISA Transactions (2016), http://dx.doi.org/10.1016/j.isatra.2016.02.009i
11
Fig. 8. The comparison result for the demand input xs1d 29 sin t mm.
than the high frequency motion due to the dynamic external load
on the shoulder actuator.
4.3.2. Comparison with PI controller
Similarly for the same tracking demands of two conditions shown
in the above section, the comparison results with PI controller are
given in Figs. 9 and 10. Here the PI controller is described as
R
us K p xs1 K i xs1 dt, where xs1 xs1d xs1 . The two parameters
Kp 100 and Ki 15, which have been well tuned to guarantee fast
Please cite this article as: Guo Q, et al. Parametric adaptive estimation and backstepping control of electro-hydraulic actuator with
decayed memory lter. ISA Transactions (2016), http://dx.doi.org/10.1016/j.isatra.2016.02.009i
12
Fig. 9. The comparison result for the demand input xs1d 29 sin t mm.
Fig. 10. The comparison result for the demand input xs1d 14:5 sin 2t mm.
Fig. 11. The comparison result for the demand input xs1d 29 sin 2t mm.
Please cite this article as: Guo Q, et al. Parametric adaptive estimation and backstepping control of electro-hydraulic actuator with
decayed memory lter. ISA Transactions (2016), http://dx.doi.org/10.1016/j.isatra.2016.02.009i
5. Conclusions
In this paper, a parametric adaptive backstepping controller
based on state feedback is presented to implement the displacement control of electro-hydraulic actuator. The dynamic models of
this EHS and the external loads were rst constructed. Then, the
parametric adaptive estimation law is designed to estimate six
uncertainty parameters, and the recursive backstepping controller
was established by Lyapunov technique. After that, a decayed
memory lter is used to estimate the two virtual control variables
and corresponding derivatives. Simultaneously, the backstepping
controller is also revised to guarantee the convergence of the state
error and the parametric estimated error. The sinusoidal tracking
results verify this proposed method in the motion control of the
robotic arm. Furthermore, the effectiveness of the proposed controller comparison with the simplied backstepping controller is
well demonstrated in critical working conditions.
Acknowledgments
The authors acknowledge Prof. Andrew Plummer, Director of
Power Center for Power Transmission and Motion Control,
Department of Mechanical Engineering, University of Bath for the
funding assistance and previous work. This work was supported
by the National Natural Science Foundation of China (Nos.
61305092 and 51205045), the Postdoctoral Science Foundation of
China (No. 2013M542487), and the Open Foundation of the State
Key Laboratory of Fluid Power Transmission and Control (No.
GZKF-201515).
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Please cite this article as: Guo Q, et al. Parametric adaptive estimation and backstepping control of electro-hydraulic actuator with
decayed memory lter. ISA Transactions (2016), http://dx.doi.org/10.1016/j.isatra.2016.02.009i