Robust Adaptive Control of Hydraulic Positioning System Considering Frequency Domain Performance

摘要: Article history: In this paper, a robust MRAC (model reference adaptive control) scheme is applied to control an electrohydraulic positioning system under various loads. The inverse dead-zone compensator in the cancels out response, and integrator added controller provides good position-tracking ability. LQG/LTR (linear quadratic Gaussian with loop transfer recovery) closed-loop model used as for learning system. systematic technique design linear that optimizes objective function using some compromise between effort performance frequency domain. Different external load tests are performed investigate effectiveness of designed real time. experimental results show tracking proposed highly accurate,which offers considerable robustness even large change load. Received 27 August 2013 Revised 12 March 2014 Accepted 17