Synthesis of an Adaptive Controller for Movement Synchronization in a Multi-channel Steering System

The paper presents the synthesis of an adaptive controller for a redundant steering drive system, consisting of several electro-hydraulic actuators that control a common steering surface. A mathematical model of an electro-hydraulic actuator system is analyzed taking into account nonlinear factors. The construction of the synchronization control purpose function is presented, from which the adaptive control law for equalizing the loading forces of the channels is built on the basis of the method of Lyapunov function. The research results were performed in the MATLAB / Simulink software environment when comparing the response of the output force between channels with different synchronization coefficients of the control law.