u/_Kwadwoooooooo

Hi everyone,

I’m working on a project involving tracking control of a six-DOF multi-axis coupled machine driven by electrohydraulic actuators.

At the moment, I already have a baseline control structure with a very good tracking accuracy. it comprises of an outer loop control and an inner loop control for the actuator side. What I want to do next is improve the actuator control law by adding an adaptive robust control term, based on a paper I’m referencing.

The problem is that the adaptive robust law in the paper is pretty computationally heavy, at least from the way it is presented mathematically, and I’m trying to figure out how people actually implement this in practice, especially in Simulink.

So I wanted to ask people who have worked on electrohydraulic servo systems or similar nonlinear actuator control problems:

When implementing adaptive robust control laws, do you usually build them using standard Simulink blocks?

Or do you normally put the heavy mathematics inside MATLAB Function blocks?

For parameter adaptation, projection laws, robust terms, pressure dynamics, valve flow nonlinearities, etc., what parts are usually done with blocks and what parts are better handled in code?

Are there practical tricks for reducing computational burden while keeping the controller faithful to the paper?

If you implemented something similar, what parameters or terms turned out to matter most in practice?

I’m especially interested in hearing from anyone who has implemented this on a real or realistic electrohydraulic servo model, not just in theory.

Thanks.

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Hi everyone,

I’m working on a project involving tracking control of a six-DOF multi-axis coupled machine driven by electrohydraulic actuators.

At the moment, I already have a baseline control structure with very good tracking accuracy. it comprises of an outer loop control and an inner loop control for the actuator side. What I want to do next is improve the actuator control law by adding an adaptive robust control term, based on a paper I’m referencing.

The problem is that the adaptive robust law in the paper is pretty computationally heavy, at least from the way it is presented mathematically, and I’m trying to figure out how people actually implement this in practice, especially in Simulink.

So I wanted to ask people who have worked on electrohydraulic servo systems or similar nonlinear actuator control problems:

When implementing adaptive robust control laws, do you usually build them using standard Simulink blocks?

Or do you normally put the heavy mathematics inside MATLAB Function blocks?

For parameter adaptation, projection laws, robust terms, pressure dynamics, valve flow nonlinearities, etc., what parts are usually done with blocks and what parts are better handled in code?

Are there practical tricks for reducing computational burden while keeping the controller faithful to the paper?

If you implemented something similar, what parameters or terms turned out to matter most in practice?

I’m especially interested in hearing from anyone who has implemented this on a real or realistic electrohydraulic servo model, not just in theory.

also the current baseline model runs quite slowly so i am concerned about adding more blocks to the model.

Thanks.