Abstract. This work presents a cascade controller for the trajectory tracking control of a hydraulic actuator by using adaptive algorithms to deal with parametric uncertainties together with an adaptive dead-zone compensation scheme. The hydraulic actuator is modeled as a forth order nonlinear system including the valve dynamic as a first order linear system and considering a valve with a dead-...

This paper reports on the development of a comprehensive nonlinear mathematical model of a novel inherently compliant fluidic actuator with Rotary Elastic Chambers (REC–actuator). The actuator is intended for robotic devices working in direct physical contact with humans and can be operated by both, liquid as well as gaseous working fluid. In the hydraulic realization the REC-actuator is contro...

A study of published literature and information from piezoelectric, electrostrictive, and magnetostrictive actuator vendors has been undertaken to establish the mechanical and electrical operating characteristics of the actuators, and to compare them using output energy density criteria. Output energy values of up to 0.666 J can be achieved with off-the-shelf actuators. Energy density per unit ...

Preliminary note The aim of the investigation was to compare and unveil efficiency of electro-hydraulic control (EHR) system to mechanical three point hitch regulation in mouldboard ploughing. Increase of working velocity and three point hitch automatic regulation activity decreased depth of ploughing at both regulation systems but electro-hydraulic system done it more accurately since deviatio...