Study on nonlinear friction compensation control in the electro-hydraulic servo loading system of triaxial apparatus Online publication date: Tue, 14-Aug-2018
by Yong Sang; Weiqi Sun; Xudong Wang
International Journal of Engineering Systems Modelling and Simulation (IJESMS), Vol. 10, No. 3, 2018
Abstract: Nonlinear friction and uncertain disturbance are two of the most important factors affecting the tracking performance and the robustness in the electro-hydraulic servo loading system of triaxial apparatus. In this paper, an iterative learning control (ILC) based sliding mode control (SMC) has been proposed to solve such a problem. A P-type learning function is used to compensate the model of nonlinear friction. The state-space model of the triaxial apparatus is established and the corresponding controller is designed. The controller employs an ILC based SMC of input-output feedback linearisation (IOFL) method to determine the control rule and accomplish the compensation for the nonlinear friction. A Lyapunov method is applied to analyse the condition of convergence in the finite time and the impact acting on the system caused by the control parameters. The simulation results indicate that the tracking performance and the robustness of the system have been remarkably improved.
Existing subscribers:
Go to Inderscience Online Journals to access the Full Text of this article.
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Engineering Systems Modelling and Simulation (IJESMS):
Login with your Inderscience username and password:
Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.
If you still need assistance, please email subs@inderscience.com
Our Blog 
Follow us on Twitter 
Visit us on Facebook