6533b85afe1ef96bd12b8c24

RESEARCH PRODUCT

Hybrid Position/Force Control for Hydraulic Actuators

Michael RudermanPhilipp Pasolli

subject

0301 basic medicineLyapunov functionComputer scienceSystems and Control (eess.SY)Electrical Engineering and Systems Science - Systems and Control03 medical and health sciencessymbols.namesakeHydraulic cylinder030104 developmental biology0302 clinical medicineLinearizationControl theoryPosition (vector)Control systemFull state feedbackFOS: Electrical engineering electronic engineering information engineeringsymbolsActuator030217 neurology & neurosurgery

description

In this paper a novel hybrid position/force control with autonomous switching between both control modes is introduced for hydraulic actuators. A hybrid position/force control structure with feed-forwarding, full-state feedback, including integral control error, pre-compensator of the deadzone, and low-pass filtering of the control value is designed. Controller gains are obtained via local linearization and pole placement accomplished separately for the position and force control. A hysteresis-based autonomous switching is integrated into the closed control loop, while multiple Lyapunov function based approach is applied for stability analysis of the entire hybrid control system. Experimental evaluation is shown on the developed test setup with the standard industrial hydraulic cylinders, and that for different motion and load profiles.

yearjournalcountryeditionlanguage
2020-06-05
http://arxiv.org/abs/2006.03670