Name
Abstract | ||
|---|---|---|
The control problem of a hydraulic servo-system is addressed. The performance achievable by classical linear controllers, e.g. PD, are usually limited due to the highly nonlinear behavior of the hydraulic dynamics. This paper adopts the backstepping design strategy to develop a Lyapunov-based nonlinear controller for a hydraulic servo-system. Load, hydraulic and valve dynamics are incorporated in the design process. An adaptation law is also proposed to deal with uncertainties in hydraulic parameters. The approach can be further extended to the control of hydraulically driven manipulators. Both simulation and experimental results are provided to show the effectiveness of the proposed method |
Year | DOI | Venue |
|---|---|---|
2000 | 10.1109/ROBOT.2000.844774 | Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference |
Keywords | Field | DocType |
adaptive control,control system synthesis,hydraulic control equipment,hydrodynamics,manipulator dynamics,nonlinear control systems,servomechanisms,Lyapunov method,adaptive control,backstepping,hydraulic servo-systems,hydraulically driven manipulators,hydrodynamics,nonlinear control,valve | Lyapunov function,Control theory,Backstepping,Nonlinear system,Nonlinear control,Control theory,Control engineering,Servomechanism,Control system,Adaptive control,Engineering | Conference |
Volume | Issue | ISSN |
2 | 1 | 1050-4729 |
ISBN | Citations | PageRank |
0-7803-5886-4 | 21 | 3.13 |
References | Authors | |
5 | 2 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Mohammad Reza Sirouspour | 1 | 185 | 20.11 |
| Septimiu E Salcudean | 2 | 632 | 87.59 |