An Adaptive Control Method for Electro-hydrostatic Actuator Based on Virtual Decomposition Control

Abstract

This paper presents an adaptive control method for Electro-hydrostatic Actuator (EHA) based on Virtual Decomposition Control (VDC) under higher-order model, nonlinearities and uncertainties. In the fifth-order dynamic model of EHA, its nonlinear factors make the superior control very difficult. This paper decomposes EHA into four subsystems according to energy conversion, designs the control law for each subsystem, and provides an adaptive control based on VDC. The proposed adaptive controller can solve the problems of multiple uncertainties and nonlinearities in the system and guarantee the stability of EHA. The stability of the subsystems and EHA system are rigorously proven. The simulation results show that the proposed method can effectively control the EHA position and improve the EHA control performance compared with the conventional control method.