Nonlinear control of hydraulic robots

TitleNonlinear control of hydraulic robots
Publication TypeJournal Article
Year of Publication2001
AuthorsSirouspour, M. R., and S. E. Salcudean
JournalRobotics and Automation, IEEE Transactions on
Pagination173 -182
Date Publishedapr.
Keywordsacceleration control, acceleration feedback, adaptation laws, adaptive control, adaptive robust sliding-type observers, asymptotic stability, backstepping design methodology, compensation, control system synthesis, exponentially stable tracking errors, feedback, hydraulic control equipment, hydraulic robot manipulators, hydraulic Stewart platform, Lyapunov analysis, Lyapunov methods, manipulators, nonlinear control systems, nonlinear position tracking controller, observers, parametric uncertainties, robust control, tracking, uncertain systems

This paper addresses the control problem of hydraulic robot manipulators. The backstepping design methodology is adopted to develop a novel nonlinear position tracking controller. The tracking errors are shown to be exponentially stable under the proposed control law. The controller is further augmented with adaptation laws to compensate for parametric uncertainties in the system dynamics. Acceleration feedback is avoided by using two new adaptive and robust sliding-type observers. The adaptive controllers are proven to be asymptotically stable via Lyapunov analysis. Simulation and experimental results performed with a hydraulic Stewart platform demonstrate the effectiveness of the approach


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