Backstepping adaptive control for real-time hybrid simulation including servo-hydraulic dynamics

Yuting Ouyang, Weixing Shi, Jiazeng Shan, Billie F. Spencer

Research output: Contribution to journalArticlepeer-review


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.

Original languageEnglish (US)
Pages (from-to)732-754
Number of pages23
JournalMechanical Systems and Signal Processing
StatePublished - Sep 1 2019


  • Adaptive control
  • Backstepping
  • First-principle model
  • On-line estimation
  • RTHS

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Signal Processing
  • Civil and Structural Engineering
  • Aerospace Engineering
  • Mechanical Engineering
  • Computer Science Applications


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