A simplified approach to force control for electro-hydraulic systems

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In this paper, a Lyapunov-based control algorithm is developed for force tracking control of an electro-hydraulic actuator. The developed controller relies on an accurate model of the system. To compensate for the parametric uncertainties, a Lyapunov-based parameter adaptation is applied. The adaptation uses a variable structure approach to account for asymmetries present in the system. The coupled control law and the adaptation scheme are applied to an experimental valve-controlled cylinder. Friction modeling and compensation are also discussed. The experimental results show that the nonlinear control algorithm, together with the adaptation scheme, gives a good performance for the specified tracking task. The original adaptive control law is then simplified in several stages with an examination of the output tracking at each stage of simplification. It is shown that the original algorithm can be significantly simplified without too significant a loss of performance. The simplest algorithm corresponds to an adaptive velocity feedback term coupled with a simple force error feedback. (C) 2000 Elsevier Science Ltd. All rights reserved.

Original languageEnglish (US)
Pages (from-to)1347-1356
Number of pages10
JournalControl Engineering Practice
Issue number12
StatePublished - Dec 2000
Externally publishedYes

Bibliographical note

Funding Information:
This work was supported by the National Science Foundation under Grant DMI 96-24837CAREER and the Office of the Naval Research under Contract N00014-96-1-0754.


  • Adaptive algorithms
  • Electro-hydraulic systems
  • Force control
  • Friction
  • Hydraulic actuator
  • Lyapunov methods
  • Nonlinear control
  • Pressure control


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