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

Volume

7

Issue

2

fYear

1999

fDate

3/1/1999 12:00:00 AM

Firstpage

238

Lastpage

247

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;

fLanguage

English

Journal_Title

Control Systems Technology, IEEE Transactions on

Publisher

ieee

ISSN

1063-6536

Type

jour

DOI

10.1109/87.748150

Filename

748150