Design of Lyapunov Based Nonlinear Position Control of Electrohydraulic Servo Systems

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DETIČEK, Edvard ;KASTREVC, Mitja .
Design of Lyapunov Based Nonlinear Position Control of Electrohydraulic Servo Systems. 
Strojniški vestnik - Journal of Mechanical Engineering, [S.l.], v. 62, n.3, p. 163-170, june 2018. 
ISSN 0039-2480.
Available at: <https://www.sv-jme.eu/article/design-of-lyapunov-based-nonlinear-position-control-of-electrohydraulic-servo-systems/>. Date accessed: 30 may. 2020. 
doi:http://dx.doi.org/10.5545/sv-jme.2015.2921.
Detiček, E., & Kastrevc, M.
(2016).
Design of Lyapunov Based Nonlinear Position Control of Electrohydraulic Servo Systems.
Strojniški vestnik - Journal of Mechanical Engineering, 62(3), 163-170.
doi:http://dx.doi.org/10.5545/sv-jme.2015.2921
@article{sv-jmesv-jme.2015.2921,
	author = {Edvard  Detiček and Mitja  Kastrevc},
	title = {Design of Lyapunov Based Nonlinear Position Control of Electrohydraulic Servo Systems},
	journal = {Strojniški vestnik - Journal of Mechanical Engineering},
	volume = {62},
	number = {3},
	year = {2016},
	keywords = {nonlinear control; Lyapunov methods; integrator backstepping; position control; electrohydraulic servo system; computer simulation},
	abstract = {This paper studies the nonlinear closed loop control of an electrohydraulic servo system. The control strategy is developed based on Lyapunov theory of nonlinear systems using integrator backstepping approach. Highly nonlinear nature of electrohydraulic servo system is well known. Main reasons for nonlinear and non-differentiable mathematical description of systems dynamics are the fluid compressibility, leakage flows, friction forces and nonlinear fluid flow through servo valve orifices. These nonlinear terms influence also the dynamic errors of the control system. Two different nonlinear design procedures are employed feedback linearization and integrator backstepping. Backstepping is used here because it is a powerful and robust nonlinear strategy. These techniques are used for construction of nonlinear control algorithm. The effectiveness of it, to stabilize any operating point of the system is proved by computer simulation. The systems error dynamics significantly depends on tuning parameters of the controller. The wrong selection of these parameters may lead to saturation or chattering of control signals. All derived results are validated by computer simulation of a nonlinear mathematical model of the system. The results are also compared to these obtained with a conventional P controller to prove that classic linear controllers fail to achieve a good tracking of the desired output, especially, when the hydraulic actuator operates at the maximum load. The research studies represented in the paper shows big potential of Lyapunov based nonlinear controller design procedures, to obtain desired control objectives.},
	issn = {0039-2480},	pages = {163-170},	doi = {10.5545/sv-jme.2015.2921},
	url = {https://www.sv-jme.eu/article/design-of-lyapunov-based-nonlinear-position-control-of-electrohydraulic-servo-systems/}
}
Detiček, E.,Kastrevc, M.
2016 June 62. Design of Lyapunov Based Nonlinear Position Control of Electrohydraulic Servo Systems. Strojniški vestnik - Journal of Mechanical Engineering. [Online] 62:3
%A Detiček, Edvard 
%A Kastrevc, Mitja 
%D 2016
%T Design of Lyapunov Based Nonlinear Position Control of Electrohydraulic Servo Systems
%B 2016
%9 nonlinear control; Lyapunov methods; integrator backstepping; position control; electrohydraulic servo system; computer simulation
%! Design of Lyapunov Based Nonlinear Position Control of Electrohydraulic Servo Systems
%K nonlinear control; Lyapunov methods; integrator backstepping; position control; electrohydraulic servo system; computer simulation
%X This paper studies the nonlinear closed loop control of an electrohydraulic servo system. The control strategy is developed based on Lyapunov theory of nonlinear systems using integrator backstepping approach. Highly nonlinear nature of electrohydraulic servo system is well known. Main reasons for nonlinear and non-differentiable mathematical description of systems dynamics are the fluid compressibility, leakage flows, friction forces and nonlinear fluid flow through servo valve orifices. These nonlinear terms influence also the dynamic errors of the control system. Two different nonlinear design procedures are employed feedback linearization and integrator backstepping. Backstepping is used here because it is a powerful and robust nonlinear strategy. These techniques are used for construction of nonlinear control algorithm. The effectiveness of it, to stabilize any operating point of the system is proved by computer simulation. The systems error dynamics significantly depends on tuning parameters of the controller. The wrong selection of these parameters may lead to saturation or chattering of control signals. All derived results are validated by computer simulation of a nonlinear mathematical model of the system. The results are also compared to these obtained with a conventional P controller to prove that classic linear controllers fail to achieve a good tracking of the desired output, especially, when the hydraulic actuator operates at the maximum load. The research studies represented in the paper shows big potential of Lyapunov based nonlinear controller design procedures, to obtain desired control objectives.
%U https://www.sv-jme.eu/article/design-of-lyapunov-based-nonlinear-position-control-of-electrohydraulic-servo-systems/
%0 Journal Article
%R 10.5545/sv-jme.2015.2921
%& 163
%P 8
%J Strojniški vestnik - Journal of Mechanical Engineering
%V 62
%N 3
%@ 0039-2480
%8 2018-06-27
%7 2018-06-27
Detiček, Edvard, & Mitja  Kastrevc.
"Design of Lyapunov Based Nonlinear Position Control of Electrohydraulic Servo Systems." Strojniški vestnik - Journal of Mechanical Engineering [Online], 62.3 (2016): 163-170. Web.  30 May. 2020
TY  - JOUR
AU  - Detiček, Edvard 
AU  - Kastrevc, Mitja 
PY  - 2016
TI  - Design of Lyapunov Based Nonlinear Position Control of Electrohydraulic Servo Systems
JF  - Strojniški vestnik - Journal of Mechanical Engineering
DO  - 10.5545/sv-jme.2015.2921
KW  - nonlinear control; Lyapunov methods; integrator backstepping; position control; electrohydraulic servo system; computer simulation
N2  - This paper studies the nonlinear closed loop control of an electrohydraulic servo system. The control strategy is developed based on Lyapunov theory of nonlinear systems using integrator backstepping approach. Highly nonlinear nature of electrohydraulic servo system is well known. Main reasons for nonlinear and non-differentiable mathematical description of systems dynamics are the fluid compressibility, leakage flows, friction forces and nonlinear fluid flow through servo valve orifices. These nonlinear terms influence also the dynamic errors of the control system. Two different nonlinear design procedures are employed feedback linearization and integrator backstepping. Backstepping is used here because it is a powerful and robust nonlinear strategy. These techniques are used for construction of nonlinear control algorithm. The effectiveness of it, to stabilize any operating point of the system is proved by computer simulation. The systems error dynamics significantly depends on tuning parameters of the controller. The wrong selection of these parameters may lead to saturation or chattering of control signals. All derived results are validated by computer simulation of a nonlinear mathematical model of the system. The results are also compared to these obtained with a conventional P controller to prove that classic linear controllers fail to achieve a good tracking of the desired output, especially, when the hydraulic actuator operates at the maximum load. The research studies represented in the paper shows big potential of Lyapunov based nonlinear controller design procedures, to obtain desired control objectives.
UR  - https://www.sv-jme.eu/article/design-of-lyapunov-based-nonlinear-position-control-of-electrohydraulic-servo-systems/
@article{{sv-jme}{sv-jme.2015.2921},
	author = {Detiček, E., Kastrevc, M.},
	title = {Design of Lyapunov Based Nonlinear Position Control of Electrohydraulic Servo Systems},
	journal = {Strojniški vestnik - Journal of Mechanical Engineering},
	volume = {62},
	number = {3},
	year = {2016},
	doi = {10.5545/sv-jme.2015.2921},
	url = {https://www.sv-jme.eu/article/design-of-lyapunov-based-nonlinear-position-control-of-electrohydraulic-servo-systems/}
}
TY  - JOUR
AU  - Detiček, Edvard 
AU  - Kastrevc, Mitja 
PY  - 2018/06/27
TI  - Design of Lyapunov Based Nonlinear Position Control of Electrohydraulic Servo Systems
JF  - Strojniški vestnik - Journal of Mechanical Engineering; Vol 62, No 3 (2016): Strojniški vestnik - Journal of Mechanical Engineering
DO  - 10.5545/sv-jme.2015.2921
KW  - nonlinear control, Lyapunov methods, integrator backstepping, position control, electrohydraulic servo system, computer simulation
N2  - This paper studies the nonlinear closed loop control of an electrohydraulic servo system. The control strategy is developed based on Lyapunov theory of nonlinear systems using integrator backstepping approach. Highly nonlinear nature of electrohydraulic servo system is well known. Main reasons for nonlinear and non-differentiable mathematical description of systems dynamics are the fluid compressibility, leakage flows, friction forces and nonlinear fluid flow through servo valve orifices. These nonlinear terms influence also the dynamic errors of the control system. Two different nonlinear design procedures are employed feedback linearization and integrator backstepping. Backstepping is used here because it is a powerful and robust nonlinear strategy. These techniques are used for construction of nonlinear control algorithm. The effectiveness of it, to stabilize any operating point of the system is proved by computer simulation. The systems error dynamics significantly depends on tuning parameters of the controller. The wrong selection of these parameters may lead to saturation or chattering of control signals. All derived results are validated by computer simulation of a nonlinear mathematical model of the system. The results are also compared to these obtained with a conventional P controller to prove that classic linear controllers fail to achieve a good tracking of the desired output, especially, when the hydraulic actuator operates at the maximum load. The research studies represented in the paper shows big potential of Lyapunov based nonlinear controller design procedures, to obtain desired control objectives.
UR  - https://www.sv-jme.eu/article/design-of-lyapunov-based-nonlinear-position-control-of-electrohydraulic-servo-systems/
Detiček, Edvard, AND Kastrevc, Mitja.
"Design of Lyapunov Based Nonlinear Position Control of Electrohydraulic Servo Systems" Strojniški vestnik - Journal of Mechanical Engineering [Online], Volume 62 Number 3 (27 June 2018)

Authors

Affiliations

  • University of Maribor, Faculty of Mechanical Engineering, Slovenia 1

Paper's information

Strojniški vestnik - Journal of Mechanical Engineering 62(2016)3, 163-170

https://doi.org/10.5545/sv-jme.2015.2921

This paper studies the nonlinear closed loop control of an electrohydraulic servo system. The control strategy is developed based on Lyapunov theory of nonlinear systems using integrator backstepping approach. Highly nonlinear nature of electrohydraulic servo system is well known. Main reasons for nonlinear and non-differentiable mathematical description of systems dynamics are the fluid compressibility, leakage flows, friction forces and nonlinear fluid flow through servo valve orifices. These nonlinear terms influence also the dynamic errors of the control system. Two different nonlinear design procedures are employed feedback linearization and integrator backstepping. Backstepping is used here because it is a powerful and robust nonlinear strategy. These techniques are used for construction of nonlinear control algorithm. The effectiveness of it, to stabilize any operating point of the system is proved by computer simulation. The systems error dynamics significantly depends on tuning parameters of the controller. The wrong selection of these parameters may lead to saturation or chattering of control signals. All derived results are validated by computer simulation of a nonlinear mathematical model of the system. The results are also compared to these obtained with a conventional P controller to prove that classic linear controllers fail to achieve a good tracking of the desired output, especially, when the hydraulic actuator operates at the maximum load. The research studies represented in the paper shows big potential of Lyapunov based nonlinear controller design procedures, to obtain desired control objectives.

nonlinear control; Lyapunov methods; integrator backstepping; position control; electrohydraulic servo system; computer simulation