Backstepping adaptive control for real-time hybrid simulation including servo-hydraulic dynamics. (1st September 2019)

• Record Type: Journal Article
• Authors: Ouyang, Yuting; Shi, Weixing; Shan, Jiazeng; Spencer, Billie F.
• Is Part Of: Mechanical systems and signal processing. Volume 130(2019)
• Page Start: 732
• Page End: 754
• Publication Date: 2019-09-01
• Subjects: Backstepping -- Adaptive control -- First-principle model -- On-line estimation -- RTHS; Structural dynamics -- Periodicals; Vibration -- Periodicals; Constructions -- Dynamique -- Périodiques; Vibration -- Périodiques; Structural dynamics; Vibration; Periodicals; 621
• DOI: 10.1016/j.ymssp.2019.05.042
• Languages: English
• ISSNs: 0888-3270

Abstract

Highlights: An adaptive control framework is proposed for servo-hydraulic dynamics compensation. Little prior-knowledge of the experimental structure parameters is needed. Numerical-experimental interface uncertainties are considered. First-principles servo-hydraulic actuator model is introduced in the controller. Abstract: A backstepping adaptive control method is proposed for on-line estimation of unknown servo-hydraulic dynamics and the compensation of time-varying lags in real-time hybrid simulation tests. The response tracking problem becomes a critical challenge when realistic experimental conditions are taken into consideration, such as control-structure interaction effects and sensor measurement noise. Unlike a conventional time-lag compensator, the proposed adaptive controller generates a command trajectory for the actuated system according to adaptive laws. Besides bringing response tracking error to zeros, the estimation of a first-principle actuator dynamic model is also facilitated in the proposed approach. Lyapunov stability analysis is systematically presented for designing the adaptive control law. Illustratively, a three-story seismically excited structure with different control strategies is utilized to demonstrate the efficiency and robustness of the proposed controller. A benchmark problem is then utilized for the verification of controller's advancement. Four simulation cases with different damping/mass conditions and four ground excitation scenarios are selected for the application. As stated, favorable tracking performance has been observed with a remarkable improvement in performance evaluation.