A passivity framework for hydraulic actuators is developed by consideration of the compressibility energy function for a fluid with a pressure dependent bulk modulus. The typical actuator’s mechanical and pressure dynamic model is shown to be the Euler-Lagrange equations for this energy function. A passivity property for the actuator is exhibited in which the hydraulic supply rate contains the compressibility energy, instead of just being P · Q. A storage function for the pressure error is then proposed based on the physical compressibility energy and the pressure error dynamics is shown to be a passive two-port subsystem. Control laws are derived using the storage function. A case study is presented to compare the new passivity based approach and the traditional backstepping approach for a trajectory tracking application. In this example, the proposed approach is less sensitive to velocity measurement error and requires lower feedback gains than the traditional approach.
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ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control
October 31–November 2, 2011
Arlington, Virginia, USA
Conference Sponsors:
- Dynamic Systems and Control Division
ISBN:
978-0-7918-5475-4
PROCEEDINGS PAPER
Passivity Based Nonlinear Control of Hydraulic Actuators Based on an Euler-Lagrange Formulation
Perry Y. Li,
Perry Y. Li
University of Minnesota, Minneapolis, MN
Search for other works by this author on:
Meng Wang
Meng Wang
University of Minnesota, Minneapolis, MN
Search for other works by this author on:
Perry Y. Li
University of Minnesota, Minneapolis, MN
Meng Wang
University of Minnesota, Minneapolis, MN
Paper No:
DSCC2011-6197, pp. 107-114; 8 pages
Published Online:
May 5, 2012
Citation
Li, PY, & Wang, M. "Passivity Based Nonlinear Control of Hydraulic Actuators Based on an Euler-Lagrange Formulation." Proceedings of the ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control. ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, Volume 1. Arlington, Virginia, USA. October 31–November 2, 2011. pp. 107-114. ASME. https://doi.org/10.1115/DSCC2011-6197
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