Adaptive Robust Control - Theory and Application to Precision and Energy Saving Control of Electro-Hydraulic Systems

The salient features of the proposed adaptive robust control (ARC) lie in the seamless integration of (i) appropriate nonlinear robust feedback controls that are physically realizable while having targeted local high-gain feedback so that the effect of various model uncertainties can be sufficiently attenuated to guarantee certain consistent robust control performance and (ii) controlled learning to reduce model uncertainties to maximize the achievable control performance and facilitate the construction of certain built-in intelligences. Such a design philosophy is well in-line with how human beings utilize feedback information and makes it well suited for the integrated design of intelligent and precision mechatronic systems, as demonstrated through various applications including the electrical motor driven mechanical systems with control accuracy down to sub-micrometer levels and piezo-electrical actuator driven nano-positioning systems for nanotechnology applications. This paper is to introduce researchers and practicing engineers to the essences of such an advanced nonlinear control design methodology. The energy-saving control of electro- hydraulic systems using novel programmable valves are used as an application example and comparative experimental results are presented to illustrate the effectiveness of the presented ARC approach.

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