Parametric adaptive control of electro-hydraulic system driving two-DOF robotic arm

摘要

In this paper, a parametric adaptive control of electro-hydraulic system (EHS) is proposed to drive the motion of two-degree-of-freedom robotic arm. Due to the unknown load disturbance from the driven force/torque of the robotic arm and the existing hydraulic parametric uncertainty, a parametric adaptive estimation law is designed to estimate the unknown bound of equivalent integrated disturbance. Then a backstep-ping controller is designed to guarantee the system stability and the dynamic tracking performance of EHS. The comparative experimentation results with conventional PI controller has verified the effectiveness of the proposed controller.