RBF neural network sliding mode control method based on backstepping for an electro-hydraulic actuator

english

2020

volume 66, issue 12

backstepping   electro-hydraulic actuator   non-linear control   RBF neural network   sliding mode

Univerza v Ljubljani, Fakulteta za strojništvo
(Obvezni izvod spletne publikacije)

Aiming at the interference problem and the difficulty of model parameter determination caused by the nonlinearity of the valve-controlled hydraulic cylinder position servo system, this study proposes a radial basis function (RBF) neural network sliding mode control strategy based on a backstepping strategy for the electro-hydraulic actuator. First, the non-linear system model of the third-order position electro-hydraulic control servo system is established on the basis of the principle analysis. Second, the model function RBF adaptive law and backstepping control law are designed according to Lyapunov%s stability theorem to solve the problem of external load disturbance and modelling uncertainty, combined with sliding mode control strategy and virtual control law. Finally, simulation and experiment on MATLAB Simulink and semi-physical experimental platform are accomplished to show the effectiveness of the proposed method. Moreover, results show that the designed controller has high tracking accuracy to the given signal.

06.05.2021