Model-based force and position tracking control of a multi- pressure hydraulic cylinder

Model-based force and position tracking control of an asymmetric cylinder with a digital hydraulic valve

Force and Position Control for Electrohydraulic Systems of a Robotic Excavator

In impedance control of hydraulic excavators the piston position and ram force of each hydraulic cylinder for the axis control of the boom, arm, and bucket can be determined. The problem is thus how to find the control voltage applied to the servovalves to track these commands to the hydraulic systems. This paper presents analytic, simulation and experimental results for controllers that have b...

On Model-based Control of Hydraulic Actuators

Electrohydraulic servosystems exhibit highly nonlinear behavior to the effect that classical linear controllers, e.g., PD, usually achieve a limited performance. Load static and dynamic parameters variations are also contributing to the limitation of their position and force tracking performance. This paper presents a modelbased controller applied to a fully detailed model of an electrohydrauli...

Non-minimum Phase Model of Vertical Position Electro-hydraulic Cylinder for Trajectory Zpetc

Hydraulic actuator has been widely used in industrial applications due to its fast response and capability of moving heavy load. The nonlinear properties of hydraulic cylinder had challenged researchers to design a suitable controller for position control, motion control and tracking control. Based on these problems, we had done a real-time digital tracking control studies on electrohydraulic c...

Design of an Adaptive Fuzzy Estimator for Force/Position Tracking in Robot Manipulators

This paper presents a stable new algorithm for force/position control in robot manipulators. In this algorithm, position vectors are measured by sensors and then used in the control law. Since using force sensor has some issues such as high costs and technical problems, an approach is presented to overcome these issues. In this respect, force sensor is replaced by an adaptive fuzzy estimator to...