Adaptive Backstepping Control of Nonlinear Hydraulic-Mechanical System Including Valve Dynamics
Journal article, Peer reviewed
MetadataShow full item record
Original versionChoux, M., & Hovland, G. (2010). Adaptive Backstepping Control of Nonlinear Hydraulic-Mechanical System Including Valve Dynamics. Modeling Identification and Control, 31(1), 35-44. doi: 10.4173/mic.2010.1.3
The main contribution of the paper is the development of an adaptive backstepping controller for a nonlinear hydraulic-mechanical system considering valve dynamics. The paper also compares the performance of two variants of an adaptive backstepping tracking controller with a simple PI controller. The results show that the backstepping controller considering valve dynamics achieves significantly better tracking performance than the PI controller, while handling uncertain parameters related to internal leakage, friction, the orifice equation and oil characteristics.
Published version of an article from the journal: Modeling Identification and Control. Also available from publisher: http://dx.doi.org/10.4173/mic.2010.1.3