Title :
Robust nonlinear control of water hydraulic servomotor system with parameter uncertainties
Author_Institution :
Dept. of Mech. Eng., Sophia Univ., Tokyo, Japan
Abstract :
Water hydraulic servo system is attractive technology for safety environment. This paper deals with water hydraulic servomotor system. To overcome the highly nonlinearity of flow equation, it is linearized and parametrized. Considering the effect of parameter perturbation, e.g. load fluctuation and friction parameters, a method of Lyapunov-based recursive design is applied to construct a robust rotational velocity controller. The effectiveness of the proposed controller is examined numerically.
Keywords :
Lyapunov methods; hydraulic motors; nonlinear control systems; perturbation techniques; robust control; servomotors; uncertain systems; velocity control; Lyapunov-based recursive design; flow equation; parameter perturbation; parameter uncertainties; robust nonlinear control; robust rotational velocity control; safety environment; water hydraulic servomotor system; Control systems; Fluctuations; Friction; Nonlinear control systems; Nonlinear equations; Robust control; Safety; Servomechanisms; Servomotors; Uncertain systems;
Conference_Titel :
Control, Automation, Robotics and Vision Conference, 2004. ICARCV 2004 8th
Print_ISBN :
0-7803-8653-1
DOI :
10.1109/ICARCV.2004.1469011
