earticle

영어

Speed control of hydraulic actuator is mainly desirable in diverse hydraulic systems including those for agriculture and most of them are for manufacturing. In all these systems the main demand is to accurately control the speed of the hydraulic actuator under variable operating conditions including various set-points and disturbances. In this paper a generalized predictive control (GPC) which is well known is used based on least squares support vector machines (LS-SVM) as a model reference control. The main drawback of LS-SVM is that the sparseness of standard SVM is lost which means that some of the system parameters are equal to zero. In this contribution a new method for sparseness is introduced. The electro-hydraulic servo system is modeled recursively each sample based on LS-SVM using linear kernel function avoiding linearization when radial basis function (RBF) is employed. Based on the model obtained the control signal is calculated at each sample using GPC. The presented controller performance is compared to that of self-tuning PID controller based on recursive least squares (RLS) algorithm.