Force Control Strategies in Hydraulically Actuated Legged Robots

Model-Based Control of Hydraulically Actuated Manipulators

Model-based controllers have successfully been applied to many electrically driven robotic manipulators to improve their tracking performance. The application to hydraulically actuated systems however is not straight forward, due to the nonlinear internal dynamics of the actuators. This paper presents the modelling of an experimental hydraulic robot arm and the implementation of a cascaded cont...

Nonlinear Optimal Control of a Hydraulically Actuated Positioning System

In this paper, the nonlinear optimal control problem is formulated for the position control of an electrohydraulic servo system. The optimal control is given by the solution to the Hamilton-Jacobi-Bellman equation, which in this case cannot be solved explicitly. An alternative method, based upon successive Galerkin approximation, is used to obtain an approximate optimal solution. Preliminary si...

Tracking Control of the hydraulically Actuated Flexible Manipulator

PI/PISMC Control of Hydraulically Actuated Active Suspension System

The purpose of this paper is to present a robust strategy in controlling a hydraulically actuated active suspension system. The controller consists of the two controller loops namely inner loop controller for force tracking control of the hydraulic actuator and outer loop controller to reject the effects of road induced disturbances. The outer loop controller utilized a proportional integral sl...

Sensitivity-based robust feedback linearizing control of hydraulically actuated system

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . viii CHAPTER 1. INTRODUCTIOIN . . . . . . . . . . . . . . . . . . . . . . 1 1.1 Sensitivity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 1.2 Robust Feedback Linearization . . . . . . . . . . . . . . . . . . . . . . . 3 1.3 Application to Hydraulic System . . . . . . . . . . . . . . . . . . . . . . 5...