Title :
VS-ACC applied to a hydraulic actuator
Author :
Guenther, Raul ; Cunha, Mauro A b ; De Pieri, Edson R. ; De Negri, Victor J.
Author_Institution :
Dept. of Mech. Eng., Univ. Federal de Santa Catarina, Florianapolis, Brazil
Abstract :
In this paper a complete stability proof of a cascade controller applied to a hydraulic actuator is presented. To deal with the mechanical and hydraulic uncertainties an adaptive and a variable structure control law are combined. The theoretical approach may be generalized to the case of hydraulically driven manipulators. An experimental implementation performed on a linear hydraulic actuator illustrates the main features of the proposed controller
Keywords :
actuators; adaptive control; cascade control; hydraulic control equipment; linear systems; stability; uncertain systems; variable structure systems; VS-ACC; VSC; VSS; adaptive cascade control; hydraulic actuator; hydraulic uncertainty; hydraulically driven manipulators; linear hydraulic actuator; mechanical uncertainty; stability proof; variable structure control; Adaptive control; Backstepping; Control systems; Hydraulic actuators; Mechanical variables control; Power system control; Programmable control; Robots; Stability; Uncertainty;
Conference_Titel :
American Control Conference, 2000. Proceedings of the 2000
Conference_Location :
Chicago, IL
Print_ISBN :
0-7803-5519-9
DOI :
10.1109/ACC.2000.876997
