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Real-time nonlinear adaptive force tracking control strategy for electrohydraulic systems with suppression of external vibration disturbance

  • Tang, Yu1
  • Zhu, Zhencai1
  • Shen, Gang1
  • Rui, Guangchao2, 3
  • Cheng, Dong2, 3
  • Li, Xiang1
  • Sa, Yunjie1
  • 1 China University of Mining and Technology, Jiangsu Key Laboratory of Mine Mechanical and Electrical Equipment, School of Mechanical and Electrical Engineering, Xuzhou, 221116, China , Xuzhou (China)
  • 2 Zhengzhou Institute of Mechanical and Electrical Engineering, Zhengzhou, 450000, China , Zhengzhou (China)
  • 3 Henan Key Laboratory of Underwater Intelligent Equipment, Zhengzhou, 450000, China , Zhengzhou (China)
Published Article
Journal of the Brazilian Society of Mechanical Sciences and Engineering
Springer Berlin Heidelberg
Publication Date
Jun 06, 2019
DOI: 10.1007/s40430-019-1780-1
Springer Nature


Electrohydraulic system (EHS) is extensively utilized in experimental testing field for exerting forces on specimen, and in many occasions, force tracking of EHS is confronted with external motion disturbance, which seriously deteriorates the force tracking performance. To address this problem, a real-time nonlinear adaptive force control strategy is developed in this paper. On the basis of the established nonlinear model for EHS, the proposed nonlinear adaptive force controller is obtained by a recursive backstepping method, where both servo-valve nonlinearity and parametric uncertainties of general electrohydraulic systems are accounted for during the controller design procedure. The first advantage for the proposed controller lies in the fact that the actuator’s vibration disturbance information is utilized to serve the purpose of accurate force tracking. Besides, parametric uncertainties are effectively handled by the developed online adaptive updating law to achieve a higher force replication performance. Moreover, rigorous Lyapunov stability of the proposed controller is guaranteed. Finally, comparative experiments are implemented on a uniaxial EHS through xPC/Target rapid prototyping technique, and the relevant results validate the feasibility of the developed controller.

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