Displacement-controlled (DC) actuation is a revolutionary fluid power technology which has been utilized on a broad range of applications demonstrating substantial fuel savings and significant performance improvements over traditional valve-controlled (VC) systems. In this paper, a nonlinear discontinuous projection-based adaptive controller is synthesized to achieve precision motion control of DC actuators. The controller is formulated to compensate for uncertain parameters through online parameter adaptation. Additionally, its structure allows for the inclusion of unmodeled nonlinearities such as friction and external loads and disturbances. Transient performance and tracking accuracy are also guaranteed in the presence of both parametric uncertainties and uncertain nonlinearities, and asymptotic tracking is achieved in the presence of parametric uncertainties. To evaluate the synthesized controller, a test bench comprising a large hydraulically powered end-effector was utilized. The actuator, a vane-type hydraulic motor is mechanically connected to a large robotic arm with a wide range of motion. Measurement results demonstrate that the synthesized controller achieves the aforementioned advantages while attaining a high degree of motion accuracy.

References

References
1.
Grabbel
,
J.
,
2004
,
Robust Control Strategies for Displacement Controlled Rotary Actuators Using Vane Type Motors
,
VDI Fortschritt-Berichte
,
Hamburg, Germany
.
2.
Rahmfeld
,
R.
,
2004
,
Development and Control of Energy Saving Hydraulic Servo Drives for Mobile Systems
,
VDI Fortschritt-Berichte
,
Düsseldorf, Germany
.
3.
Williamson
,
C.
, and
Ivantysynova
,
M.
,
2007
, “
The Effect of Pump Efficiency on Displacement-Controlled Actuator Systems
,”
10th Scandinavian International Conference on Fluid Power
,
Tampere
, Finland, pp. 301–326.
4.
Lee
,
H.
, and
Tomizuka
,
M.
,
1996
, “
Robust Motion Controller Design for High-Accuracy Positioning Systems
,”
IEEE Trans. Ind. Electron.
,
43
(
1
), pp.
48
55
.10.1109/41.481407
5.
Yao
,
B.
,
1997
, “
Adaptive Robust Control of Nonlinear Systems With Application to Control of Mechanical Systems
,” Ph.D. dissertation, University of California, Berkeley, CA.
6.
Sastry
,
S.
, and
Bodson
,
M.
,
1989
,
Adaptive Control
(Stability, Convergence and Robustness),
Dover Publications
,
Englewood Cliffs, NJ
.
7.
Ackermann
,
J.
,
2002
,
Robust Control
(The Parameter Space Approach),
Springer-Verlag
,
London
.10.1007/978-1-4471-0207-6
8.
Reed
,
J. S.
, and
Ioannou
,
P. A.
,
1989
, “
Instability Analysis and Robust Adaptive Control of Robotic Manipulators
,”
IEEE Trans. Rob. Autom.
,
5
(
3
), pp.
381
386
.10.1109/70.34776
9.
Ioannou
,
P. A.
, and
Sun
,
J.
,
1996
,
Robust Adaptive Control
,
Prentice-Hall
,
Upper Saddle River, NJ
.
10.
Yao
,
B.
,
1997
, “
High Performance Adaptive Robust Control of Nonlinear Systems: A General Framework and New Schemes
,”
IEEE Conference on Decision and Control
,
San Diego, CA
, pp.
2489
2494
.
11.
Yao
,
B.
, and
Tomizuka
,
M.
,
1997
, “
Adaptive Robust Control of SISO Nonlinear Systems in a Semi-Strict Feedback Form
,”
Automatica
,
33
(
5
), pp.
893
900
.10.1016/S0005-1098(96)00222-1
12.
Yao
,
B.
, and
Tomizuka
,
M.
,
1994
, “
Smooth Robust Adaptive Sliding Mode Control of Robot Manipulators With Guaranteed Transient Performance
,”
American Control Conference
, pp.
764
775
.
13.
Yao
,
B.
,
Bu
,
F.
, and
Chiu
,
G.
,
2001
, “
Non-Linear Adaptive Robust Control of Electro-Hydraulic Systems Driven by Double-Rod Actuators
,”
Int. J. Control
,
74
(
8
), pp.
761
775
.10.1080/002071700110037515
14.
Yao
,
B.
,
Reedy
,
J.
, and
Chiu
,
G.
,
2001
, “
Adaptive Robust Motion Control of Single-Rod Hydraulic Actuators: Theory and Experiments
,”
IEEE/ASME Trans. Mechatronics
,
5
(
1
), pp.
79
91
.10.1109/3516.828592
15.
Yao
,
B.
,
Reedy
,
J.
, and
Chiu
,
G.
,
1998
, “
Nonlinear Adaptive Robust Control of Electro-Hydraulic Servo Systems With Discontinuous Projections
,”
37th IEEE Conference on Decision and Control
,
Tampa, FL
, pp.
2265
2270
.
You do not currently have access to this content.