Simplified Adaptive Robust Motion Control with Varying Boundary Discontinuous Projection of Hydraulic Actuator

This paper deals with the high performance adaptive robust motion control of electrohydraulic servo system driven by dual vane hydraulic rotary actuator. The recently developed adaptive robust control theory is used to handle the nonlinearities and modelling uncertainties in hydraulic systems. Aside from the difficulty of handling parametric variations, the traditional adaptive robust controller (ARC) is also a little complicated in practice. To address these challenging issues, a simplified adaptive robust control with varying boundary discontinuous projection is developed to enhance the robustness of the closed-loop system, based on the features of hydraulic rotary actuator. Compared with previous ARC controller, the resulting controller has a simple algorithm for more suitable implementation and can handle parametric variations via nonlinear robust design. The controller theoretically achieves a guaranteed transient performance and final tracking accuracy in the presence of both parametric uncertainties and uncertain nonlinearities. Extensive simulation results are obtained for a hydraulic rotary actuator to verify the high performance nature of proposed control strategy.