Trajectory control of an electro hydraulic actuator using an iterative backstepping control scheme

This paper introduces a new control algorithm for the trajectory control of an electrohydraulic actuator (EHA). The key feature of this paper is the combination of a modified backstepping control with an iterative learning mechanism to perform adaptive tracking control tasks for a symmetrical pump-controlled EHA. Firstly, a mathematical model of the EHA is developed and a strictly feedback form state space is obtained. Next, the control signal is formed based on an iterative learning scheme with a backstepping modifier. Then, stability analyses are also carried out to ensure the convergence of the closed loop system. Finally, four experimental cases of studies are done to evaluate the proposed control method.