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Adaptive sliding mode position control of electro-hydraulic servo system with single-rod actuators
2013 IEEE International Symposium on Robotic and Sensors Environments (ROSE), 2013An adaptive sliding mode control technique is presented for an electro-hydraulic servo system with single-rod actuators in the presence of uncertain nonlinearities and unknown dynamics in this paper. The influence of different wording area of the single-rod actuator to dynamics of the system is regarded in contrast to double-rod.
Xinliang Lu +3 more
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Nonlinear cascade control of single-rod pneumatic actuator based on an extended disturbance observer
Journal of Central South University, 2019Precise position tracking control of the single-rod pneumatic actuator is considered and a nonlinear cascade controller is developed. The proposed controller comprises an extended disturbance observer (EDOB) and a nonlinear robust control law synthesized by the backstepping method. The EDOB is designed to estimate not only the influence of disturbances
Ai-min Li +3 more
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Adaptive robust motion control of single-rod hydraulic actuators: Theory and experiments
Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251), 1999High performance robust motion control of single-rod hydraulic actuators is considered. In contrast to the double-rod hydraulic actuators studied previously, the two chambers of a single-rod hydraulic actuator have different areas. As a result, the dynamic equations describing the pressure changes in the two chambers cannot be combined into a single ...
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Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065), 2002
This paper studies the coordinated motion control of a hydraulic arm driven by single-rod hydraulic actuators (a scaled down version of an industrial backhoe/excavator arm). Compared to conventional robot manipulators driven by electrical motors, hydraulic arms have a richer nonlinear dynamics and strong couplings among various joints (or hydraulic ...
Funping Bu, Bin Yao
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This paper studies the coordinated motion control of a hydraulic arm driven by single-rod hydraulic actuators (a scaled down version of an industrial backhoe/excavator arm). Compared to conventional robot manipulators driven by electrical motors, hydraulic arms have a richer nonlinear dynamics and strong couplings among various joints (or hydraulic ...
Funping Bu, Bin Yao
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Proceedings 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2003), 2004
This paper presents an indirect adaptive robust control (IARC) of electro-hydraulic systems driven by single-rod hydraulic actuators. Unlike the tracking-performance-oriented direct adaptive robust control (DARC) algorithm, in addition to good output tracking performance, the IARC also focuses on accurate parameter estimates for secondary purposes such
null Song Liu, null Bin Yao
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This paper presents an indirect adaptive robust control (IARC) of electro-hydraulic systems driven by single-rod hydraulic actuators. Unlike the tracking-performance-oriented direct adaptive robust control (DARC) algorithm, in addition to good output tracking performance, the IARC also focuses on accurate parameter estimates for secondary purposes such
null Song Liu, null Bin Yao
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ISA Transactions
High-precision control technology for the pump controlled single-rod actuator (PCSA) system is in high demand in industrial applications. In the PCSA system, there are both matched and mismatched uncertainties. However, it is still a challenging task for existing observer-based controllers to simultaneously observe and compensate for the uncertainty of
Xinhao Ji +3 more
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High-precision control technology for the pump controlled single-rod actuator (PCSA) system is in high demand in industrial applications. In the PCSA system, there are both matched and mismatched uncertainties. However, it is still a challenging task for existing observer-based controllers to simultaneously observe and compensate for the uncertainty of
Xinhao Ji +3 more
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Regulator and Tracking System Design for a Single-Rod Hydraulic Actuator via Pole-Placement Approach
Volume 7: Dynamic Systems and Control; Mechatronics and Intelligent Machines, Parts A and B, 2011Due to the nonlinear dynamics of hydraulic systems, applying high performance closed-loop controllers is complicated. In this paper, a single-rod hydraulic actuator is considered in which load displacement (for positioning purposes) is controlled via manipulation of the input voltage to the servo-valve. Dynamics of the servo-valve is described by first
Hamed Moradi +2 more
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Journal of Dynamic Systems, Measurement, and Control, 2018
In this paper, a control scheme is developed and evaluated for stable bilateral haptic teleoperation of a single-rod hydraulic actuator subjected to base disturbance. The proposed controller, based on Lyapunov stability technique, is capable of reducing position errors at master and slave sides, and provides a feel of the contact force between the ...
Vikram Banthia +4 more
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In this paper, a control scheme is developed and evaluated for stable bilateral haptic teleoperation of a single-rod hydraulic actuator subjected to base disturbance. The proposed controller, based on Lyapunov stability technique, is capable of reducing position errors at master and slave sides, and provides a feel of the contact force between the ...
Vikram Banthia +4 more
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Journal of Dynamic Systems, Measurement, and Control, 1984
The open-loop response of servovalve-controlled single-rod linear actuators in investigated for both the extending and retracting cases. A linearized frequency response technique is used to establish the probable type of dynamic behavior. Nondimensional results are presented as an aid to system design, and a boundary is established such that a ...
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The open-loop response of servovalve-controlled single-rod linear actuators in investigated for both the extending and retracting cases. A linearized frequency response technique is used to establish the probable type of dynamic behavior. Nondimensional results are presented as an aid to system design, and a boundary is established such that a ...
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