Passivity based adaptive control of a two chamber single rod hydraulic actuator

Meng Wang, Perry Y. Li

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Scopus citations

Abstract

A novel nonlinear function parameterization model was proposed for nonlinear adaptive controller design. This approach re-parameterizes the nonlinear function with unknown parameters linearly, which simplifies the adaptive controller design significantly. A recently developed passivity based backstepping controller using a physical compressibility energy function for a chamber hydraulic cylinder was augmented with the parameter adaptation law to achieve trajectory tracking. We experimentally demonstrate the effectiveness of the parameterization model, and the adaptive passive controller produces an accurate trajectory tracking performance.

Original languageEnglish (US)
Title of host publication2012 American Control Conference, ACC 2012
Pages1814-1819
Number of pages6
StatePublished - 2012
Event2012 American Control Conference, ACC 2012 - Montreal, QC, Canada
Duration: Jun 27 2012Jun 29 2012

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619

Other

Other2012 American Control Conference, ACC 2012
CountryCanada
CityMontreal, QC
Period6/27/126/29/12

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  • Cite this

    Wang, M., & Li, P. Y. (2012). Passivity based adaptive control of a two chamber single rod hydraulic actuator. In 2012 American Control Conference, ACC 2012 (pp. 1814-1819). [6315668] (Proceedings of the American Control Conference).