Journal ArticleDOI
Dynamic feedback linearization for electrohydraulically actuated control systems
Gholamreza Vossoughi,Max Donath +1 more
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TLDR
In this article, a globally linearizing feedback control law is developed for an electrohydraulic servo system using the dynamic inversion principal, which is implemented on a rotational joint driven by a linear actuator and the results from experiments indicate that better uniformity of response is achieved across a wider range of operating conditions than would otherwise be possible.Abstract:
Using the dynamic inversion principal, a globally linearizing feedback control law is developed for an electrohydraulic servo system. The proposed control law is implemented on a rotational joint driven by a linear actuator. The results from experiments indicate that better uniformity of response is achieved across a wider range of operating conditions than would otherwise be possible. Improved symmetry is obtained for the extension and retraction phases of motion for an asymmetric actuator under various loading conditions and actuator positions. As a result of the improvements in linearity, significantly better performance is achieved when using linear controllers. To incorporate the effects of parametric uncertainties on the feedback linearization, a state space linear fractional representation of the parametrically uncertain linearized system is also developed. This uncertainty model is specifically suited for the design of robust control systems using the μ-synthesis and H∞ based approach.read more
Citations
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Journal ArticleDOI
Adaptive robust motion control of single-rod hydraulic actuators: theory and experiments
TL;DR: In this paper, a discontinuous projection-based adaptive robust controller (ARC) is proposed for the swing motion control of a single-rod hydraulic actuator with constant unknown inertia load, which takes into account not only the effect of parameter variations coming from the inertia load and various hydraulic parameters, but also the effects of hard to model nonlinearities such as uncompensated friction forces and external disturbances.
Journal ArticleDOI
Adaptive sliding mode control of electro-hydraulic system with nonlinear unknown parameters
Cheng Guan,Shuangxia Pan +1 more
TL;DR: In this article, an adaptive sliding control method is presented for an electro-hydraulic system with nonlinear unknown parameters, which enter the system equations in a nonlinear way. But in practical hydraulic systems, the original control volumes are unknown or change; as a result some unknown parameters appear nonlinearly.
Proceedings ArticleDOI
Adaptive robust motion control of single-rod hydraulic actuators: Theory and experiments
TL;DR: In this paper, a discontinuous projection based adaptive robust controller (ARC) is proposed for the swing motion control of a single-rod hydraulic actuator, which is able to take into account not only the effect of parameter variations coming from the inertia load and various hydraulic parameters but also the effects of hard-to-model nonlinearities such as uncompensated friction forces and external disturbances.
Journal ArticleDOI
Adaptive Control of Hydraulic Actuators With LuGre Model-Based Friction Compensation
TL;DR: An adaptive backstepping controller is proposed for precise tracking control of hydraulic systems to handle parametric uncertainties along with nonlinear friction compensation, and the robustness against unconsidered dynamics, as well as external disturbances is also ensured via Lyapunov analysis.
Journal ArticleDOI
Adaptive Backstepping Control of an Electrohydraulic Actuator
TL;DR: In this article, an adaptive position control for a pump-controlled electrohydraulic actuator (EHA) based on an adaptive backstepping control scheme is presented, which combines a modified back-stepping algorithm with a special adaptation law to compensate all nonlinearities and uncertainties in EHA system.
References
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Book
Applied Nonlinear Control
TL;DR: Covers in a progressive fashion a number of analysis tools and design techniques directly applicable to nonlinear control problems in high performance systems (in aerospace, robotics and automotive areas).
Journal ArticleDOI
State-space solutions to standard H/sub 2/ and H/sub infinity / control problems
TL;DR: In this article, simple state-space formulas are derived for all controllers solving the following standard H/sub infinity / problem: for a given number gamma > 0, find all controllers such that the H/ sub infinity / norm of the closed-loop transfer function is (strictly) less than gamma.
Proceedings ArticleDOI
State-space solutions to standard H 2 and H ∞ control problems
TL;DR: In this article, simple state-space formulas are presented for a controller solving a standard H∞-problem, where the controller has the same state-dimension as the plant, its computation involves only two Riccati equations, and it has a separation structure reminiscent of classical LQG theory.
Book
Hydraulic Control Systems
H. E. Merritt,Victor Pomper +1 more
TL;DR: In this article, the authors present an overview of the properties of hydraulic fluids and hydraulic power in control systems, including pressure and flow control Valves, and hydraulic pumps and motors.
Analysis of feedback systems with structured uncertainties
TL;DR: In this article, a general approach for analysing linear systems with structured uncertainty based on a new generalised spectral theory for matrices is introduced, which naturally extend techniques based on singular values and eliminate their most serious difficulties.