POSITION CONTROL OF AN ELECTRO-HYDRAULIC SERVOSYSTEM - A non-linear backstepping approach

Claude Kaddissi, Jean-Pierre Kenné, Maarouf Saad

2004

Abstract

This paper studies the control of an electro-hydraulic servosystem using a non-linear backstepping based approach. These systems are known to be highly non-linear due to many factors as leakage, friction and especially the fluid flow expression through the servo-valve. Another fact, often neglected or avoided, is that such systems have a non-differentiable mathematical model for bi-directional applications. All these facets are pointed out in the proposed model of this paper. Therefore, the control of this class of systems should be based on non-linear strategies. Many experiments showed the failure of classic control with electro-hydraulic systems, unless operating in the neighborhood of a desired value or reference signal. The backstepping is used here to overcome all the non-linear effects. The model discontinuity is solved in this paper, by approximating the non-differentiable function by a sigmoid, so that the backstepping could be used without restrictions. In fact, simulation results show the effectiveness of the proposed approach in terms of guaranteed stability and zero tracking error.

Paper Citation

in Harvard Style

Kaddissi C., Kenné J. and Saad M. (2004). POSITION CONTROL OF AN ELECTRO-HYDRAULIC SERVOSYSTEM - A non-linear backstepping approach . In Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 972-8865-12-0, pages 270-276. DOI: 10.5220/0001134402700276

in Bibtex Style

@conference{icinco04,
author={Claude Kaddissi and Jean-Pierre Kenné and Maarouf Saad},
title={POSITION CONTROL OF AN ELECTRO-HYDRAULIC SERVOSYSTEM - A non-linear backstepping approach},
booktitle={Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2004},
pages={270-276},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001134402700276},
isbn={972-8865-12-0},
}

in EndNote Style

TY - CONF
JO - Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - POSITION CONTROL OF AN ELECTRO-HYDRAULIC SERVOSYSTEM - A non-linear backstepping approach
SN - 972-8865-12-0
AU - Kaddissi C.
AU - Kenné J.
AU - Saad M.
PY - 2004
SP - 270
EP - 276
DO - 10.5220/0001134402700276