Abstract
To achieve a high performance synchronized motion trajectory tracking of the hydraulic press slider-leveling electrohydraulic control system, an adaptive robust cross-coupling control strategy that incorporates the cross-coupling approach into adaptive robust control (ARC) architecture has been proposed. The primary objective of this study was describe that the nonlinear ARC controller together with a cross-coupling control (CCC) controller was integrated to solve the slider-leveling synchronization control system using four axes. A discontinuous projection-based ARC controller was constructed. A robust control method with dynamic compensation type fast adaptation was introduced to attenuate the effects of parameter estimation errors, unmodeled dynamics and disturbances, and improved the transient tracking performance of the system. The stability of the controller was proven by Lyapunov theory and the trajectory tracking error asymptotically convergences to zero. The simulation of a desired reference trajectory was included. The max tracking error of the proposed ARC controller of single axis was kept within-0.06 mm. The trajectory tracking error asymptotically converges to zero, which guaranteed the system would possess good transient behavior and confirmed the stability performance of the control system. The four axes synchronous errors of reference trajectory with cross-coupling controller indicated the maximum synchronization error of the proposed ARC + CCC controller between axis was within ±0.1 mm. The ARC together with a CCC controller for four hydraulic cylinders used parameter adaptation to obtain estimates of model parameters for reducing the extent of parametric uncertainties, and used a robust control law to attenuate the effects of parameter estimation errors, unmodeled dynamics, and disturbances. This study result shows that the proposed cross-coupling synchronization control scheme, together with the ARC law, provides excellent synchronization motion performance in a control system with four axes.