In this paper, a Lyapunov-based control algorithm is developed for the force/pressure tracking control of an electro-hydraulic actuator. The controller relies on an accurate model of the system. To compensate for the parameter uncertainties, a standard parameter adaptation based on Lyapunov analysis is applied. The control law is coupled with the adaptation scheme and applied to an experimental system. Friction modeling and compensation for pressure tracking are discussed and experimental results shown. The results show that the nonlinear control algorithm together with the adaptation scheme gives a good performance for the specified task.
|Original language||English (US)|
|Number of pages||6|
|Journal||Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME|
|State||Published - Mar 2000|