Adaptive Control with ESP32 for Anti-windup Design of Actuator with Input Saturation

DOI

10.2991/emcs-17.2017.222How to use a DOI?

Keywords

Electro-hydrostatic actuator; Servo system; Adaptive backstepping control; Anti-Windup control

Abstract

For overcoming the unknown nonlinearity and parameters variability in the model of electro-hydrostatic actuator system, A Lyapunov function-based control algorithm is addressed for force tracking control in the case of input saturation presence. Treating modeling errors, unmodeled nonlinearities as unknown external disturbances, the state space model of electro-hydrostatic actuator is formulated as a strict feedback system. By using backstepping approaches, an online estimation scheme is adopted to approximate the external disturbance of the system. To deal with saturation, the anti-windup compensator is constructed. The tracking error is adjustable by an explicit choice of design parameters. The simulation results and experiment results are provided to show that the control scheme proposed has a good capacity to deal with the model parameter uncertainty, and compared with the classical beckstepping control, the robustness and steady state accuracy have improved obviously.

Copyright

© 2017, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Fei Xu
AU  - Liping Wang
AU  - Rongrong Wang
PY  - 2017/03
DA  - 2017/03
TI  - Adaptive Control with ESP32 for Anti-windup Design of Actuator with Input Saturation
BT  - Proceedings of the 2017 7th International Conference on Education, Management, Computer and Society (EMCS 2017)
PB  - Atlantis Press
SP  - 1156
EP  - 1159
SN  - 2352-538X
UR  - https://doi.org/10.2991/emcs-17.2017.222
DO  - 10.2991/emcs-17.2017.222
ID  - Xu2017/03
ER  -