PROJECT TITLE :

A Practical Nonlinear Adaptive Control of Hydraulic Servomechanisms With Periodic-Like Disturbances

ABSTRACT:

When performing periodic tasks, the modeling uncertainties will also present some periodicity. During this paper, by appropriately applying Fourier series approximation, a practical nonlinear adaptive repetitive controller is proposed for motion control of hydraulic servomechanisms to be told and compensate the periodic modeling uncertainties. Sturdy management term is additionally made to effectively attenuate the effect of approximation errors, and so asymptotic tracking performance is achieved. Also, robustness is additionally mentioned with respect to different nonperiodic disturbances, that reveals a guaranteed transient performance and steady-state tracking accuracy can be achieved by the proposed controller with a sensible assumption. Compared to the ancient repetitive controllers, the main advantage of this controller is that it not solely requires little exact knowledge of the system dynamic structure or its parameters, however conjointly greatly reduces the noise sensitivity and heavy memory necessities. Comparative experimental results are obtained to verify the high accuracy tracking performance of the proposed management strategy.