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A backstepping method based adaptive robust dead-zone compensation controller is proposed for the electro-hydraulic servo systems(EHSSs) with unknown dead-zone and uncertain system parameters.Variable load is seen as a sum of a constant and a variable part.The constant part is regarded as a parameter of the system to be estimated real time.The variable part together with the friction are seen as disturbance so that a robust term in the controller can be adopted to reject them.Compared with the traditional dead-zone compensation method,a dead-zone compensator is incorporated in the EHSS without constructing a dead-zone inverse.Combining backstepping method,an adaptive robust controller(ARC) with dead-zone compensation is formed.An easy-to-use ARC tuning method is also proposed after a further analysis of the ARC structure.Simulations show that the proposed method has a splendid tracking performance,all the uncertain parameters can be estimated,and the disturbance has been rejected while the dead-zone term is well estimated and compensated.
A backstepping method based adaptive robust dead-zone compensation controller is proposed for electro-hydraulic servo systems (EHSSs) with unknown dead-zone and uncertain system parameters. Variable load is seen as a sum of a constant and a variable part. Constant part is regarded as a parameter of the system to be estimated real time. the variable part together with the friction are seen as disturbance so that a certain term in the controller can be adopted to reject them. Compared with the traditional dead-zone compensation method , a dead-zone compensator is incorporated in the EHSS without constructing a dead-zone inverse. Mining backstepping method, an adaptive robust controller (ARC) with dead-zone compensation is formed. An easy-to-use ARC tuning method is also proposed after a further analysis of the ARC structure. Simulations show that the proposed method has a splendid tracking performance, all of the uncertainty parameters can be estimated, and the disturbance has been rejected while the dead-zone term is well estimated and compensated.