Title: Adaptive backstepping sliding mode control for hydraulic system without overparametrisation

Authors: Rabia Benayache; Larbi Chrifi-Alaoui; Pascal Bussy

Addresses: Laboratoire des Technologies Innovantes (LTI, EA 3899), University of Picardie Jules Verne, 13 Avenue François Mitterrand, F-02880 Cuffies, France. ' Laboratoire des Technologies Innovantes (LTI, EA 3899), University of Picardie Jules Verne, 13 Avenue François Mitterrand, F-02880 Cuffies, France. ' Laboratoire des Technologies Innovantes (LTI, EA 3899), University of Picardie Jules Verne, 13 Avenue François Mitterrand, F-02880 Cuffies, France

Abstract: The paper proposes an adaptive backstepping sliding mode control method for a hydraulic system with non-linear unknown parameters, which enter the system equations in a non-linear way. Backstepping sliding-mode method always assume that the parameters are certain and known. But in practical hydraulic system, the parameters are unknown or time varying. However, the upper bound of the lumped uncertainty is difficult to obtain in advance practical applications. Therefore, an adaptive law is proposed to adapt the value of the lumped uncertainty in real time. The main novelty of the developed adaptive control laws is that the number of parameter estimates is exactly equal to the number of unknown parameters throughout the entire coupled tanks system. Consequently, the phenomenon of overparametrisation, a significant drawback of backstepping technique to treat the control of coupled tanks in the previous literature, is eliminated in this study. Finally, experimental results are given to illustrate the tracking performance of interconnected system with the developed adaptive control schemes.

Keywords: uncertain systems; three tank systems; adaptive backstepping control; sliding mode control; nonlinear control; hydraulic systems; lumped uncertainty; overparametrisation; adaptive control.

DOI: 10.1504/IJMIC.2012.046696

International Journal of Modelling, Identification and Control, 2012 Vol.16 No.1, pp.60 - 69

Published online: 17 Dec 2014 *

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