This study proposes a novel adaptive super-twisting sliding mode controller (ASTSMC) for hydraulic servo actuator with nonlinear features and modeling uncertainties. In the proposed method, an extended state observer (ESO) is utilized to estimate value of lumped The core feature this paper combination ASTSMC ESO compensate disturbance in actuator. Moreover, does not need obtain bound uncertaint...

A novel model-based controller for 6 degree-of-freedom (DOF) hydraulic driven parallel manipulator considering the nonlinear characteristic of hydraulic systems-proportional plus derivative with dynamic gravity compensation controller is presented, in order to improve control performance and eliminate steady state errors. In this paper, 6-DOF parallel manipulator is described as multi-rigid-bod...

We present a hydro-elastic actuator that has a linear spring intentionally placed in series between the hydraulic piston and actuator output. The spring strain is measured to get an accurate estimate of force. This measurement alone is used in PI feedback to control the force in the actuator. The spring allows for high force fidelity, good force control, minimum impedance, and large dynamic ran...

MF Rahmat, S Md Rozali, N Abdul Wahab and Zulfatman Faculty of Electrical Engineering, Universiti Teknologi Malaysia, UTM Skudai 81310, Johor,Malaysia; E-mail : [email protected],[email protected], [email protected] Faculty of Electrical Engineering, Universiti Technical Malaysia Melaka, 76109 Durian Tunggal, Melaka,Malaysia; E-mail : [email protected] Abstract Draw-wire sensor is classified a...

[Abstract] An automated E/H steering controller is essential for autonomous off-road equipment. This paper presents a methodology for designing the E/H steering controller through a combination of testing and simulation. The steering kinematic model provides the steering linkage gain between the hydraulic actuator and the front wheel. The model makes it possible to close the steering control lo...

Throttling loss of a hydraulic system is a major contributor to the low system efficiency. Hydraulic transformers can potentially be used as an energy efficient, throttle-less control approach for multi-actuators systems powered by a common pressure rail (CPR). The transformer transforms the input CPR pressure to the desired pressure of the actuator instead of throttling it. Regenerative energy...

Capacity regulation system by controlling suction valve is useful for large scale reciprocating compressor in petrochemical engineering field. The dynamic performance of adjustment device influences the stability and accurancy of this system. In this paper, a mathematical model of adjustment device coupled with the motion of suction valve is built, and the dynamic performances of valve plate ar...

Sandwiched deadbands can be seen in a wide variety of systems, such as electro-hydraulic systems controlled by closedcenter valves. In such a system, the deadband is between the plant and actuator dynamics and therefore can not be compensated directly like an input deadband. Though this sandwiched deadband problem may be attenuated to certain degree through sophisticated advanced control techni...

This paper presents multi-layer feedforward neural network-based identification and approximate predictive controller (NNAPC) for a two degree-of-freedom (DOF), quarter-car servohydraulic vehicle suspension system. The nonlinear dynamics of the servo-hydraulic actuator is incorporated in the suspension model. A suspension travel controller is developed to improve the ride comfort and handling q...