期刊
ELECTRONICS LETTERS
卷 55, 期 2, 页码 78-+出版社
INST ENGINEERING TECHNOLOGY-IET
DOI: 10.1049/el.2018.7218
关键词
closed loop systems; uncertain systems; neurocontrollers; tracking; electrohydraulic control equipment; robust control; nonlinear control systems; adaptive control; servomechanisms; control system synthesis; intelligent control; position control; learning systems; accurate position tracking; electrohydraulic actuators; novel intelligent control scheme; electrohydraulic servo actuators; control law; nonlinear control approach; adaptive neural network; basic intelligent features; online learning; off-line supervised training; composite error signal; closed-loop signals; electrohydraulic system
资金
- Brazilian Coordination for the Improvement of Higher Education Personnel (CAPES)
- Brazilian National Council for Scientific and Technological Development (CNPq)
A novel intelligent control scheme is presented for accurate position tracking of electrohydraulic servo actuators. The proposed control law is designed by means of a non-linear control approach and includes an adaptive neural network to provide the basic intelligent features. Online learning, instead of off-line supervised training, is proposed to update the weight vector of the neural network. Moreover, the adoption of a composite error signal as the only input to the neural network allows a significant reduction in the computational complexity of the algorithm. Rigorous proofs for the boundedness and convergence properties of the closed-loop signals are provided. Experimental results obtained with an electrohydraulic system demonstrate the efficacy of the proposed controller, even considering the highly non-linear and uncertain plant dynamics.
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