SELF-OPTIMIZATION ADAPTIVE VELOCITY CONTROL OF ASYMMETRIC HYDRAULIC ACTUATOR

For the velocity control of an asymmetric hydraulic actuator the servo valve is not operated in the vicinity of zero. Thus the linearized mod el is not easily defined and the classical controller cannot be readil y found. Also, because of its asymmetry, a fixed reference model of ad aptive control cannot result in optimal performances for both directio ns. In this paper, to minimize the performance index associated with t he estimated model and control penalty, the self-optimization alpha-ad aptive control shows an ability to adapt to variations in directions a nd operating conditions. Thus it win provide similarly optimal perform ances for both extending and retracting processes. Then, comparing wit h the variable gain control, the experimental results clearly show its superior performance and disturbance rejection.