Title :
Experiments and simulations on the nonlinear control of a hydraulic servosystem
Author :
Sohl, Garett A. ; Bobrow, James E.
Author_Institution :
Dept. of Mech. & Aerosp. Eng., California Univ., Irvine, CA, USA
fDate :
3/1/1999 12:00:00 AM
Abstract :
This paper presents the derivation, simulation, and implementation of a nonlinear tracking control law for a hydraulic servosystem. An analysis of the nonlinear system equations is used in the derivation of a Lyapunov function that provides for exponentially stable force trajectory tracking. This control law is then extended to provide position tracking. The proposed controller is simulated and then implemented on an experimental hydraulic system to test the limits of its performance and the realistic effects of friction
Keywords :
Lyapunov methods; asymptotic stability; force control; hydraulic control equipment; nonlinear control systems; servomechanisms; tracking; Lyapunov function; experimental hydraulic system; exponentially stable force trajectory tracking; friction; hydraulic servosystem; nonlinear system equations; nonlinear tracking control law; position tracking; Adaptive control; Aerodynamics; Control systems; Engine cylinders; Fluid flow control; Force control; Friction; Hydraulic systems; Servosystems; Sliding mode control;
Journal_Title :
Control Systems Technology, IEEE Transactions on
