This research focuses on motion control of hydraulic servo-mechanism and presents a novel quasi-adaptive sliding mode control algorithm with barrier function-based control gain. The mathematical model of the system is established in integral series format to contribute to the controller design. The utilized sliding mode control gain is designed to be adapted with the change of design error related to tracking error. It can first increase until the design error reaches to a small domain at a designed time by utilizing constant gain. And then the control gain will automatically switch to barrier function form to hold design error within a predefined domain un-depending on the modeling uncertainties theoretically. Correspondingly, the tracking error will converge to a small domain. The system stability is proved via Lyapunov analysis. By comparing to three classic controllers with motion tracking experiments, the achievable higher tracking accuracy of the proposed new control law are validated sufficiently.

This technical note focus on the tracking control problem of uncertain nonlinear systems with multiple states constraints. Based on the Barrier Lyapunov function and backstepping technology, a new continuous smooth control solution can be ultimately synthesized to realize asymptotic tracking control in presence of multiple states constraints and modeling uncertainties. Firstly, the modeling uncertainties are divided into periodic and un-periodic components and Fourier expansion technology is employed to translate the periodic disturbance into the form which can be easily compensated. Then the Barrier Lyapunov function are flexibly utilized to design the virtual control law of every step and the final controller, which can guarantee the specified states within certain bounds regardless of the amplitude of system output. Meanwhile, a novel nonlinear control technology is introduced to each design step to realize the final asymptotic tracking control despite the matched and mismatched uncertainties. By analyzing the choice of the control parameters, the backstepping cross-term is skillfully dealt with and the stability of the whole system is proved rigorously. Finally, the simulation results on a three-order nonlinear hydraulic system demonstrate the satisfactory performance of the proposed control method.

This article mainly concerns the high-performance motion control of valve-controlled hydraulic actuators with input saturation and modelling uncertainties. The nonlinear mathematic model including a continuously differentiable static friction model is constructed, and then adaptive robust design framework is adopted to cope with the modelling uncertainties, which always impede the progress of high-performance motion controller. Input saturation, which frequently exists in most physical systems, has been found to be prone to performance decay. To address this specific issue, an embedded anti-windup block containing two adjusting mechanisms is properly designed to improve the motion controller to ensure the stability and performance preservation in circumstance of input saturation, which is proved via rigorous Lyapunov analysis. Typical simulation is implemented to illustrate the availability of the proposed control method.

This paper focuses on the tracking control of disturbed nonlinear system with uncertain dead-zone. Firstly, in order to weaken the influence of uncertain dead-zone, smooth inverse dead-zone model is introduced and parameterized to facilitate the control design. Then, prescribed performance function is utilized to force tracking error within decreasing and adjustable boundaries. Further, a robust technology based on the estimation of the upper bound of disturbance is employed, while the parametric adaptive law is designed, which can ensure the asymptotic stability in the presence of unknown dead-zone parameters, unknown system parameters and disturbance. The electro-hydraulic servo system is chosen for application verification, and a corresponding controller is developed based on its model and the design procedure outlined in this paper. The efficacy of the controller is confirmed through comparative simulation.

Hydro-pneumatic springs often work under high pressure and alternating load conditions, which can easily cause seal damage, leakage, and serious failure. Relevant studies have shown that the dynamic seal failure of hydro-pneumatic springs is the main cause of hydro-pneumatic spring failure, and the sealing performance of GS sealing rings directly determines the service life of hydro-pneumatic springs. The influence of different sealing structure parameters on the sealing performance of GS sealing of hydro-pneumatic springs has been studied, which can provide effective theoretical guidance for the design of sealing structures related to hydro-pneumatic springs. However, the existing research on hydro-pneumatic springs mainly focuses on the characteristics of damping and stiffness; there is a relative lack of research on sealing performance and sealing structure, and the performance change law of GS seals under different working conditions is unclear. In this paper, a GS seal ring is selected as the main seal of the hydro-pneumatic spring, the material parameters of the GS seal ring are obtained via the single-axis compression test, and the finite element simulation method is used to establish the sealing model under different compression ratios of 10–30% and different pressure impacts of 5–30 MPa. By doing so, the stress nephogram, sealing ring shape, and sealing contact pressure of the GS sealing ring under different simulation parameters are obtained. From the test results, the decrease in compression ratio after the wear of the sealing ring is the main reason for the seal leakage of the hydro-pneumatic spring. The maximum contact stress of the sealing ring occurs at the lip of the step ring, and the maximum sealing pressure of the sealing ring is determined by the contact pressure of sealing surfaces II and III. The sealing performance of the GS-type combination sealing ring is affected by the compression ratio of the sealing ring and the impact pressure; when the compression ratio of the sealing ring is 15%, the sealing ring can meet the sealing work needs below 25 MPa. The research results provide a theoretical basis for the design of GS sealing of hydro-pneumatic springs and the effective improvement of the life and reliability of related equipment.