Implementation of hydraulic servo controllers with only position measure

被引：0
|
作者：
Basile, F. [1 ]
Chiacchio, P. [1 ]
Del Grosso, D. [1 ]
机构：
[1] DIIIE, Università Degli Studi di Salerno, Via Ponte Don Melillo, 1-84084, Fisciano(SA), Italy
来源：
International Journal of Robotics and Automation | 2009年 / 24卷 / 01期
关键词：
Hydraulic actuators have nonlinear dynamics and are often used in environments (robotic; aerospace; underwater explo-rations/inspections; mining) where uncertain disturbances are present. Linear controllers designed using a linearized model of the hydraulic system are widespread. In alternative; nonlinear and ro-bust control techniques can be used to achieve better performances. Among these techniques; sliding mode control with dynamics inversion is a good choice; but it usually requires measurements of actuator's velocity and hydraulic pressures in addition to actu-ator's position. This paper presents the design and experimental evaluation of a position controller for an hydraulic actuator where the only available measure is the actuator's position. A detailed description of servosystem components is firstly presented. Then a linear control law; whose design is based on a linearized model of the actuator; is designed and tested. Finally; a sliding mode control law is developed. Experimental results; carried out on a real case study; have shown the effectiveness of the proposed controllers even when only actuator's position is available for feedback;
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页码：20 / 37
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