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]
Nonlinear Force/Pressure Tracking of an Electro-Hydraulic Actuator1
Contributed by the Dynamic Systems and Control Division for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received by the Dynamic Systems and Control Division October 28, 1998. Associate Technical Editor: N. Olgac.
Liu, R., and Alleyne, A. (October 28, 1998). "Nonlinear Force/Pressure Tracking of an Electro-Hydraulic Actuator." ASME. J. Dyn. Sys., Meas., Control. March 2000; 122(1): 232–236. https://doi.org/10.1115/1.482466
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