Drive flexibility and friction in control of hydraulic actuators: A robust adaptive nonlinear control design

Farshad Khorrami, Sandeep Jain

Research output: Contribution to conferencePaper

Abstract

In this paper, a robust adaptive nonlinear controller is presented for hydraulic actuators. The model utilized for the hydraulic actuators includes nonlinear relations between the flow velocity and the pressure, parametric uncertainties due to environmental changes, bulk modulus, inertia mass, oil temperature and valve dynamics. Moreover, transmission flexibility and friction in the drive are considered in the control synthesis. Utilizing our earlier results in robust adaptive nonlinear control and friction compensation, we present a control design methodology for dealing with the aforementioned parametric and dynamic uncertainties in hydraulic actuators. The efficacy of the advocated control design methodology is shown through simulation studies.

Original languageEnglish (US)
Pages1409-1413
Number of pages5
StatePublished - 1998
EventProceedings of the 1998 IEEE International Conference on Control Applications. Part 2 (of 2) - Trieste, Italy
Duration: Sep 1 1998Sep 4 1998

Other

OtherProceedings of the 1998 IEEE International Conference on Control Applications. Part 2 (of 2)
CityTrieste, Italy
Period9/1/989/4/98

ASJC Scopus subject areas

  • Control and Systems Engineering

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    Khorrami, F., & Jain, S. (1998). Drive flexibility and friction in control of hydraulic actuators: A robust adaptive nonlinear control design. 1409-1413. Paper presented at Proceedings of the 1998 IEEE International Conference on Control Applications. Part 2 (of 2), Trieste, Italy, .