Desired compensation adaptive robust control of single-rod electro-hydraulic actuator

This paper presents a desired compensation adaptive robust control (DCARC) of single-rod electro-hydraulic actuator. Compared with the existing adaptive robust control (ARC) algorithms, the DCARC algorithm presented here has the unique feature that the adaptive model compensation part depends on the reference trajectory and parameter estimations only. This unique feature has several advantages. Firstly, the interaction between the parameter adaptation and the robust control law is minimized, which may facilitate the controller gain tuning process considerably. Secondly, the effect of measurement noise is minimized since the regressor does not depend on actual state measurements directly. Therefore, a fast adaptation rate could be chosen in implementation to speed up the transient response and to improve overall tracking performance. Experimental results are shown to verify the effectiveness of the proposed control algorithm.