Passive control of an electrohydraulic actuator using an electrohydraulic passive valve

K. Krishnaswamy, P. Y. Li

Research output: Contribution to journalConference articlepeer-review

8 Scopus citations


A passive control scheme for bilateral teleoperated one degree of freedom hydraulic actuator is proposed. The overall system enables a human operating a motorized joystick to feel as if he is manipulating a rigid mechanical tool with which the work environment is also in contact. By ensuring that the closed loop system behaves like a passive two port device, safety and stability when coupled to other systems are improved. The control scheme is developed by first passifying a four way directional control valve via active feedback, and then by the design of a passive teleoperation control based on the low frequency dynamics of the passified valve. The coordination error between the joystick and the hydraulic actuator converges to 0 for sufficiently low manipulation bandwidth. Experimental results verifies the characteristics of the control scheme.

Original languageEnglish (US)
Pages (from-to)3932-3937
Number of pages6
JournalProceedings of the American Control Conference
StatePublished - Jan 1 2001
Event2001 American Control Conference - Arlington, VA, United States
Duration: Jun 25 2001Jun 27 2001


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