{"title":"Parameter adaptive based neural network sliding mode control for electro-hydraulic system with application to rock drilling jumbo","authors":"Xinping Guo, Hengsheng Wang, Hua Liu","doi":"10.1002/acs.3820","DOIUrl":null,"url":null,"abstract":"<div>\n \n <p>Rock drilling jumbo is an important large construction machine used for tunneling construction, and its automation has an urgent demand in engineering. However, the electro-hydraulic system of the rock drilling jumbo has strong parameters uncertainties and some dynamics that are hard to model accurately, which causes certain challenges for designing model-based high-performance control algorithms. To solve these challenges, a parameter adaptive based neural network sliding mode control algorithm is proposed to enhance control performance of the electro-hydraulic system. The parameter adaptive law is developed to estimate unknown parameters of the system, the neural network is applied for compensating unmodeled dynamics, and then the final control law is designed by sliding mode control method, and the stability demonstration of the closed-loop system is given. In the simulations, the effectiveness of the designed parameter adaptive law is verified. Extensive comparison experiments are performed on a real rock drilling jumbo driven by proportional valves, the experimental results demonstrate that the developed control algorithm obviously improves the control precision of hydraulic cylinder of the rock drilling jumbo compared with the traditional sliding mode and PID control algorithm, thus the designed control algorithm can be expanded and applied for general hydraulic servo control mechanism.</p>\n </div>","PeriodicalId":50347,"journal":{"name":"International Journal of Adaptive Control and Signal Processing","volume":"38 7","pages":"2554-2569"},"PeriodicalIF":3.9000,"publicationDate":"2024-04-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"International Journal of Adaptive Control and Signal Processing","FirstCategoryId":"94","ListUrlMain":"https://onlinelibrary.wiley.com/doi/10.1002/acs.3820","RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}
引用次数: 0
Abstract
Rock drilling jumbo is an important large construction machine used for tunneling construction, and its automation has an urgent demand in engineering. However, the electro-hydraulic system of the rock drilling jumbo has strong parameters uncertainties and some dynamics that are hard to model accurately, which causes certain challenges for designing model-based high-performance control algorithms. To solve these challenges, a parameter adaptive based neural network sliding mode control algorithm is proposed to enhance control performance of the electro-hydraulic system. The parameter adaptive law is developed to estimate unknown parameters of the system, the neural network is applied for compensating unmodeled dynamics, and then the final control law is designed by sliding mode control method, and the stability demonstration of the closed-loop system is given. In the simulations, the effectiveness of the designed parameter adaptive law is verified. Extensive comparison experiments are performed on a real rock drilling jumbo driven by proportional valves, the experimental results demonstrate that the developed control algorithm obviously improves the control precision of hydraulic cylinder of the rock drilling jumbo compared with the traditional sliding mode and PID control algorithm, thus the designed control algorithm can be expanded and applied for general hydraulic servo control mechanism.
期刊介绍：
The International Journal of Adaptive Control and Signal Processing is concerned with the design, synthesis and application of estimators or controllers where adaptive features are needed to cope with uncertainties.Papers on signal processing should also have some relevance to adaptive systems. The journal focus is on model based control design approaches rather than heuristic or rule based control design methods. All papers will be expected to include significant novel material.
Both the theory and application of adaptive systems and system identification are areas of interest. Papers on applications can include problems in the implementation of algorithms for real time signal processing and control. The stability, convergence, robustness and numerical aspects of adaptive algorithms are also suitable topics. The related subjects of controller tuning, filtering, networks and switching theory are also of interest. Principal areas to be addressed include:
Auto-Tuning, Self-Tuning and Model Reference Adaptive Controllers
Nonlinear, Robust and Intelligent Adaptive Controllers
Linear and Nonlinear Multivariable System Identification and Estimation
Identification of Linear Parameter Varying, Distributed and Hybrid Systems
Multiple Model Adaptive Control
Adaptive Signal processing Theory and Algorithms
Adaptation in Multi-Agent Systems
Condition Monitoring Systems
Fault Detection and Isolation Methods
Fault Detection and Isolation Methods
Fault-Tolerant Control (system supervision and diagnosis)
Learning Systems and Adaptive Modelling
Real Time Algorithms for Adaptive Signal Processing and Control
Adaptive Signal Processing and Control Applications
Adaptive Cloud Architectures and Networking
Adaptive Mechanisms for Internet of Things
Adaptive Sliding Mode Control.
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