Adaptive Robust Motion Control for Hydraulic Actuators With an Adjustable Event Trigger
研究了液压执行器在参数不确定和非线性下的自适应鲁棒运动控制，提出一种根据网络资源调整阈值的事件触发机制，减少带宽消耗并保证系统稳定与渐近跟踪。
This article investigates the event-triggered adaptive robust motion control for hydraulic actuators with parametric uncertainties and system nonlinearities. Under the continuous communication condition, the traditional adaptive robust motion controller is recursively presented. In order to reduce the unnecessary bandwidth consumption in the aero-engine networked control platform, an adaptive threshold triggered mechanism according to network resources is developed to synthesize the motion controller. Adjustable threshold parameters are involved to flexibly adjust the data transmission times depending on the network bandwidth occupation. It is proved that with the motion controller and the proposed adjustable threshold triggered mechanism, all the closed-loop system signals are globally bounded, and the hydraulic system output achieves asymptotic tracking to the reference trajectory by virtue of the adaptive technique, the Nussbaum-type and sign functions. Besides, the Zeno behavior is excluded, successfully. Finally, the proposed event-based control scheme is tested and discussed on the aero-engine hardware-in-the-loop (HIL) experiment platform with hydraulic actuators.