Nonlinear force control of an electro-hydraulic actuator

Research output: Chapter in Book/Report/Conference proceedingChapter

Abstract

In this paper, a Lyapunov-based control algorithm is developed for the control of an electro-hydraulic actuator. A first order nonlinear model for the actuator is developed from first principles. The servovalve used to control the actuator is modeled as a third order linear system and the controller uses model reduction to a first order system. Using Lyapunov-based techniques, a controller is developed which compensates for the modeled nonlinearities in the actuator. Additionally, parametric model uncertainties are compensated for by the inclusion of a gradient parameter adaptation scheme. The controllers are implemented on a simple force tracking problem, representative of several manufacturing processes, and the results are compared with typical linear controllers found in industrial practice. The comparison is carried out in simulation. The nonlinear controllers, although requiring additional state information, perform much better than the corresponding linear controllers.

Original languageEnglish (US)
Title of host publicationProceedings of the Japan/USA Symposium on Flexible Automation
EditorsK. Stelson, F. Oba
Pages193-200
Number of pages8
StatePublished - Dec 1 1996
EventProceedings of the 1996 Japan-USA Symposium on Flexible Automation. Part 2 (of 2) - Boston, MA, USA
Duration: Jul 7 1996Jul 10 1996

Publication series

NameProceedings of the Japan/USA Symposium on Flexible Automation
Volume1

Other

OtherProceedings of the 1996 Japan-USA Symposium on Flexible Automation. Part 2 (of 2)
CityBoston, MA, USA
Period7/7/967/10/96

Fingerprint

Hydraulic actuators
Force control
Controllers
Actuators
Control nonlinearities
Linear systems

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Alleyne, A. (1996). Nonlinear force control of an electro-hydraulic actuator. In K. Stelson, & F. Oba (Eds.), Proceedings of the Japan/USA Symposium on Flexible Automation (pp. 193-200). (Proceedings of the Japan/USA Symposium on Flexible Automation; Vol. 1).

Nonlinear force control of an electro-hydraulic actuator. / Alleyne, Andrew.

Proceedings of the Japan/USA Symposium on Flexible Automation. ed. / K. Stelson; F. Oba. 1996. p. 193-200 (Proceedings of the Japan/USA Symposium on Flexible Automation; Vol. 1).

Research output: Chapter in Book/Report/Conference proceedingChapter

Alleyne, A 1996, Nonlinear force control of an electro-hydraulic actuator. in K Stelson & F Oba (eds), Proceedings of the Japan/USA Symposium on Flexible Automation. Proceedings of the Japan/USA Symposium on Flexible Automation, vol. 1, pp. 193-200, Proceedings of the 1996 Japan-USA Symposium on Flexible Automation. Part 2 (of 2), Boston, MA, USA, 7/7/96.
Alleyne A. Nonlinear force control of an electro-hydraulic actuator. In Stelson K, Oba F, editors, Proceedings of the Japan/USA Symposium on Flexible Automation. 1996. p. 193-200. (Proceedings of the Japan/USA Symposium on Flexible Automation).
Alleyne, Andrew. / Nonlinear force control of an electro-hydraulic actuator. Proceedings of the Japan/USA Symposium on Flexible Automation. editor / K. Stelson ; F. Oba. 1996. pp. 193-200 (Proceedings of the Japan/USA Symposium on Flexible Automation).
@inbook{9852ffd7f9d1420c8a82ff5e792fff41,
title = "Nonlinear force control of an electro-hydraulic actuator",
abstract = "In this paper, a Lyapunov-based control algorithm is developed for the control of an electro-hydraulic actuator. A first order nonlinear model for the actuator is developed from first principles. The servovalve used to control the actuator is modeled as a third order linear system and the controller uses model reduction to a first order system. Using Lyapunov-based techniques, a controller is developed which compensates for the modeled nonlinearities in the actuator. Additionally, parametric model uncertainties are compensated for by the inclusion of a gradient parameter adaptation scheme. The controllers are implemented on a simple force tracking problem, representative of several manufacturing processes, and the results are compared with typical linear controllers found in industrial practice. The comparison is carried out in simulation. The nonlinear controllers, although requiring additional state information, perform much better than the corresponding linear controllers.",
author = "Andrew Alleyne",
year = "1996",
month = "12",
day = "1",
language = "English (US)",
series = "Proceedings of the Japan/USA Symposium on Flexible Automation",
pages = "193--200",
editor = "K. Stelson and F. Oba",
booktitle = "Proceedings of the Japan/USA Symposium on Flexible Automation",

}

TY - CHAP

T1 - Nonlinear force control of an electro-hydraulic actuator

AU - Alleyne, Andrew

PY - 1996/12/1

Y1 - 1996/12/1

N2 - In this paper, a Lyapunov-based control algorithm is developed for the control of an electro-hydraulic actuator. A first order nonlinear model for the actuator is developed from first principles. The servovalve used to control the actuator is modeled as a third order linear system and the controller uses model reduction to a first order system. Using Lyapunov-based techniques, a controller is developed which compensates for the modeled nonlinearities in the actuator. Additionally, parametric model uncertainties are compensated for by the inclusion of a gradient parameter adaptation scheme. The controllers are implemented on a simple force tracking problem, representative of several manufacturing processes, and the results are compared with typical linear controllers found in industrial practice. The comparison is carried out in simulation. The nonlinear controllers, although requiring additional state information, perform much better than the corresponding linear controllers.

AB - In this paper, a Lyapunov-based control algorithm is developed for the control of an electro-hydraulic actuator. A first order nonlinear model for the actuator is developed from first principles. The servovalve used to control the actuator is modeled as a third order linear system and the controller uses model reduction to a first order system. Using Lyapunov-based techniques, a controller is developed which compensates for the modeled nonlinearities in the actuator. Additionally, parametric model uncertainties are compensated for by the inclusion of a gradient parameter adaptation scheme. The controllers are implemented on a simple force tracking problem, representative of several manufacturing processes, and the results are compared with typical linear controllers found in industrial practice. The comparison is carried out in simulation. The nonlinear controllers, although requiring additional state information, perform much better than the corresponding linear controllers.

UR - http://www.scopus.com/inward/record.url?scp=0030383258&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0030383258&partnerID=8YFLogxK

M3 - Chapter

AN - SCOPUS:0030383258

T3 - Proceedings of the Japan/USA Symposium on Flexible Automation

SP - 193

EP - 200

BT - Proceedings of the Japan/USA Symposium on Flexible Automation

A2 - Stelson, K.

A2 - Oba, F.

ER -