Research on Backstepping Adaptive Control of Rotary Vane Actuator Considering Nonlinear Disturbances

As a kind of hydraulic actuating element, rotary vane actuator possesses the advantages of compact structure, light weight, and direct torque output. Therefore, it is commonly used as the driving element of robots rotary joints in recent years. Due to the existence of various nonlinear factors in the electro-hydraulic servo system, the traditional PID control method can not ignore the existence of these disturbances, and the control effect can hardly meet the expectation. In this paper, a backstepping adaptive controller is designed according to the characteristics of rotary vane actuator. Then the control effect is validated by simulation and real experiments. The simulation results show that backstepping adaptive controller has faster speed response and smaller steady state speed fluctuation without overshooting in comparison with the PID controller. The experiment results shows that backstepping adaptive controller is more robust to the nonlinear disturbances with smaller control effort meanwhile.