Development of a model-based nested controller for electrohydraulic servos

Proceedings of the 20th IEEE International Symposium on Intelligent Control, ISIC '05 and the 13th Mediterranean Conference on Control and Automation, MED '05

Volumn 2005, Issue , 2005, Pages 107-112

  Davliakos, Ioannis ^a,b   Papadopoulos, Evangelos ^a,b  

^a IEEE   (Greece)

^b NATIONAL TECHNICAL UNIVERSITY OF ATHENS   (Greece)

Author keywords

[No Author keywords available]

Indexed keywords

ELECTROHYDRAULIC SERVOSYSTEMS; INTEGRATED SYSTEM EQUATIONS; MODEL-BASED NESTED CONTROLLER; SERVOVALVE MODELS;

CONTROL SYSTEM ANALYSIS; CONTROL THEORY; ERROR ANALYSIS; HYDRAULIC EQUIPMENT; SERVOMECHANISMS; TRACKING (POSITION);

CONTROL EQUIPMENT;

EID: 33745206118     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/.2005.1467000     Document Type: Conference Paper

References (18)

1. K. Six, T. A. Lasky, and B. Ravani, "A Time-Delayed Dynamic Inversion Scheme for Mechatronic Control of Hydraulic Systems," IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics Proc., Como, Italy, 2001, pp. 1232-1238.
2. M. Jelali, and A. Kroll, Hydraulic Servo-systems. Modelling, Identification and Control, Springer, 2003.
3. D. Garagic, and K. Srinivasan, "Application of Nonlinear Adaptive Control Techniques to an Electrohydraulic Velocity Servomechanism," IEEE Trans, on Control Systems Tech., vol. 12, No. 2, 2004, pp. 303-314.
4. M. R. Sirouspour, and S. E. Salcudean, "Nonlinear Control of Hydraulic Robots," IEEE Trans, on Robotics and Automation, vol. 17, No. 2, 2001, pp. 173-182.
5. N. Niksefat, and N. Sepehri, "Robust Force Controller Design for an Electro-Hydraulic Actuator Based on Nonlinear Model," Proc. 1999 IEEE Int. Conf. Robotics & Automation, San Francisco, pp. 200-206.
6. B. Daachi, A. Benallegue, and N. K. M'Sirdi, "A Stable Neural Adaptive Force Controller for a Hydraulic Actuator," Proc. 2001 IEEE Int. Conf. Robotics & Aut., Seoul, Korea, pp. 3465-3470.
7. L. Laval, N. K. M'Sirdi, and J. C. Cadiou, " H -Force Control of a Hydraulic Servo-Actuator with Environmental Uncertainties," Proc. 1996 IEEE Int. Conf. on Robotics & Automation, Minneapolis, Minnesota, pp. 1566-1571.
8. S. Tafazoli, S. E. Salcudean, K. H. Zaad, and P. D. Lawrence, "Impedance Control of a Teleoperated Excavator," IEEE Trans, on Control Systems Tech., vol. 10, No. 3, 2002, pp. 355-367.
9. D. W. Robinson, and G. A. Pratt, "Force Controller Hydro-Elastic Actuator," Proc. 2000 IEEE Int. Conf. on Robotics & Automation, San Francisco, pp. 1321-1327.
10. R. Liu, and A. Alleyne, "Nonlinear Force/Pressure Tracking of an Electro-Hydraulic Actuator," Trans, of the ASME, vol. 122, 2000, pp. 232-237.
11. A. G. Alleyne, and R. Liu, "Systematic Control of a Class of Nonlinear Systems with Application to Electrohydraulic Cylinder Pressure Control," IEEE Trans, on Control Systems Tech., vol. 8, No. 4, 2000, pp. 623-634.
12. G. A. Sohl, and J. E. Bobrow, "Experiments and Simulations on the Nonlinear Control of a Hydraulic Servosystem," IEEE Trans, on Control Systems Tech., vol. 7, No. 2, 1999, pp. 238-247.
13. M. Honegger, and P. Corke, "Model-Based Control of Hydraulic Actuated Manipulators," Proc. 2001 IEEE Int. Conf on Robotics & Automation, Seoul, Korea, pp. 2553-2559.
14. P. Chatzakos, and E. Papadopoulos, "On Model-Based Control of Hydraulic Actuators," Proc. of RAAD '03. 12th Int. Workshop on Robotics, 2003.
15. J. J. E. Slotine, and W. Li, Applied Nonlinear Control, Prentice Hall, 1991.
16. H. E. Merritt, Hydraulic Control Systems, J. Wiley, 1967.
17. B. A. Helouvry, P. Dupont, and C. C. De Wit, "A Survey of Models, Analysis Tools and Compensation Methods for the Control of Machines with Friction," Automatica. 30: 7, 1994, pp. 1083-1138.
18. D. Stewart, "A platform with six degrees of freedom," Proc. of the IMechE,Vol. 180, Pt. 1, No 15, 1965-66, pp. 371-385.