Honorine Angue Mintsa, Geremino Ella Eny, Rolland Michel Assoumou Nzue, and Nzamba Senouveau
Control Lyapunov function, electrohydraulic servo system, control affine system, Lyapunov redesign, damping disturbance
Electro-hydraulic servo systems (EHSS) combine huge force generation from hydraulic power systems and fast accurate response from electro-hydraulic servo-valve. The most challenging issue in controlling these industrial machines is to find a control law that not only deals with the nonlinear dynamics but also that is simple to implement. This paper presents the opportunities offered by the Lyapunov redesign approach to synthesise simple new and nonlinear controllers for an EHSS affine in a control form. In order to avoid the design complexity shown in the backstepping technique, we choose a control Lyapunov function that makes the control input appear after one time derivative. Then, three-velocity control solutions are derived based on three possibilities to make negative definite the time derivative of the control Lyapunov function while ensuring the asymptotic stability. Numerical results show good tracking error for the three controllers even in the presence of damping disturbances. Experimental simulations will be incorporated into our future works.
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