드라이브 ㆍ 컨트롤 (Journal of Drive and Control)

  • 제19권1호
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  • Pages.51-61
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  • 2022
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  • 2671-7972(pISSN)
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  • 2671-7980(eISSN)
유공압건설기계학회 (The Korean Society for Fluid Power and Construction Equipment)
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Backstepping Sliding Mode-based Model-free Control of Electro-hydraulic Systems

  • Truong, Hoai-Vu-Anh (School of Mechanical and Automotive Engineering, University of Ulsan) ;
  • Trinh, Hoai-An (School of Mechanical and Automotive Engineering, University of Ulsan) ;
  • Ahn, Kyoung-Kwan (School of Mechanical and Automotive Engineering, University of Ulsan)
  • 투고 : 2021.11.22
  • 심사 : 2022.01.30
  • 발행 : 2022.03.01
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초록

This paper presents a model-free system based on a framework of a backstepping sliding mode control (BSMC) with a radial basis function neural network (RBFNN) and adaptive mechanism for electro-hydraulic systems (EHSs). First, an EHS mathematical model was dedicatedly derived to understand the system behavior. Based on the system structure, BSMC was employed to satisfy the output performance. Due to the highly nonlinear characteristics and the presence of parametric uncertainties, a model-free approximator based on an RBFNN was developed to compensate for the EHS dynamics, thus addressing the difficulty in the requirement of system information. Adaptive laws based on the actor-critic neural network (ACNN) were implemented to suppress the existing error in the approximation and satisfy system qualification. The stability of the closed-loop system was theoretically proven by the Lyapunov function. To evaluate the effectiveness of the proposed algorithm, proportional-integrated-derivative (PID) and improved PID with ACNN (ACPID), which are considered two complete model-free methods, and adaptive backstepping sliding mode control, considered an ideal model-based method with the same adaptive laws, were used as two benchmark control strategies in a comparative simulation. The simulated results validated the superiority of the proposed algorithm in achieving nearly the same performance as the ideal adaptive BSMC.

키워드

과제정보

This results was supported by "Regional Innovation Strategy (RIS)" through the National Research Foundation of Korea(NRF) funded by the Ministry of Education(MOE)(2021RIS-003).

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