Nonlinear Force/Pressure Tracking of an Electro-Hydraulic Actuator1-Reference-Cited by-同舟云学术

Nonlinear Force/Pressure Tracking of an Electro-Hydraulic Actuator1

Published:1998-10-28 Issue:1 Volume:122 Page:232-236
ISSN:0022-0434
Container-title:Journal of Dynamic Systems, Measurement, and Control
language:en
Short-container-title:

Author:

Liu Rui¹,Alleyne Andrew¹

Affiliation:

1. Department of Mechanical and Industrial Engineering, University of Illinois at Urbana-Champaign, Urbana, IL 61801

Abstract

In this paper, a Lyapunov-based control algorithm is developed for the force/pressure tracking control of an electro-hydraulic actuator. The controller relies on an accurate model of the system. To compensate for the parameter uncertainties, a standard parameter adaptation based on Lyapunov analysis is applied. The control law is coupled with the adaptation scheme and applied to an experimental system. Friction modeling and compensation for pressure tracking are discussed and experimental results shown. The results show that the nonlinear control algorithm together with the adaptation scheme gives a good performance for the specified task. [S0022-0434(00)00501-3]

Publisher

ASME International

Subject

Computer Science Applications,Mechanical Engineering,Instrumentation,Information Systems,Control and Systems Engineering

Link

http://asmedigitalcollection.asme.org/dynamicsystems/article-pdf/122/1/232/5642989/222_1.pdf

Reference10 articles.

1. Alleyne, A., and Liu, R., 1999, “On the Limitations of Force Tracking Control for Hydraulic Servosystems,” ASME J. Dyn. Syst., Meas., Control, 121, No. 2, pp. 184–190.

2. Watton, J., 1989, Fluid Power Systems: Modeling, Simulation, Analog and Microcomputer Control, Prentice-Hall, Upper Saddle River, NJ.

3. Heinrichs, B., Sepheri, N., Thornton-Trump, A. B., 1997, “Position-Based Impedance Control of an Industrial Hydraulic Manipulator,” IEEE Control Syst. Mag., 17, No. 1, pp. 46–52.

4. Niksefat, N., and Sepehri, N., “Robust Force Controller Design for a Hydraulic Actuator Based on Experimental Input-Output Data,” 1999 American Control Conference, pp. 3718–3722, San Diego, CA, June 1999.

5. Alleyne, A., 1996, “Nonlinear Force Control of an Electrohydraulic Actuator,” Japan/USA Symposium on Flexible Automation, 1, pp. 193–200, Boston, MA, June 1996.

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