Electro hydraulic actuator (EHA) system has inner and outer loops like a cascade system. The inner loop consists of an electric motor, a gear pump, and an angular velocity controller, and the outer loop consists of a hydro-actuator and a position controller. Especially, dead-band nonlinearity that exists between the electric motor and the gear pump and friction that occurs between the cylinder ...

In this paper, using the State Dependent Riccati Equation (SDRE) method, we propose a Robust Optimal Integral Sliding Mode Controller (ROISMC) to guarantee an optimal control law for a quadrotor which has become increasingly important by virtue of its high degrees of manoeuvres ability in presence of unknown time-varying external disturbances and actuator fault. The robustness of the controller...

In this paper, a design of teleoperation for a remote vehicle with a master and slave system is proposed using PID and fuzzy logic control. The work presents a position tracking between operator and the remote vehicle. The proposed technique proves to be better for controlling the position of the system. This position control is demonstrated by simulation results with constant time delay. It is...

Previous control methods were designed based on cascade structure and consist of position current controllers for permanent magnet-synchronous motors (PMSMs). Thus, the structures previous are necessarily complex although stability is guaranteed. gain tuning difficult to obtain desired performance PMSMs. To overcome this problem, paper proposes a nonlinear optimal method with an observer improv...

|This paper addresses the problem of achieving exact dynamic hybrid force/position control with multidimensional manipulators possessing the low level position controllers typically employed in industrial robot arms. Previously reported approaches and experimental results are reviewed. A new adaptive hybrid force/position control algorithm for position controlled robot arms in contact with surf...