VS-ACC applied to a hydraulic actuator

Author

Guenther, Raul ; Cunha, Mauro A b ; De Pieri, Edson R. ; De Negri, Victor J.

Author_Institution

Dept. of Mech. Eng., Univ. Federal de Santa Catarina, Florianapolis, Brazil

Volume

6

fYear

2000

fDate

2000

Firstpage

4124

Abstract

In this paper a complete stability proof of a cascade controller applied to a hydraulic actuator is presented. To deal with the mechanical and hydraulic uncertainties an adaptive and a variable structure control law are combined. The theoretical approach may be generalized to the case of hydraulically driven manipulators. An experimental implementation performed on a linear hydraulic actuator illustrates the main features of the proposed controller

Keywords

actuators; adaptive control; cascade control; hydraulic control equipment; linear systems; stability; uncertain systems; variable structure systems; VS-ACC; VSC; VSS; adaptive cascade control; hydraulic actuator; hydraulic uncertainty; hydraulically driven manipulators; linear hydraulic actuator; mechanical uncertainty; stability proof; variable structure control; Adaptive control; Backstepping; Control systems; Hydraulic actuators; Mechanical variables control; Power system control; Programmable control; Robots; Stability; Uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 2000. Proceedings of the 2000

Conference_Location

Chicago, IL

ISSN

0743-1619

Print_ISBN

0-7803-5519-9

Type

conf

DOI

10.1109/ACC.2000.876997

Filename

876997