This paper focuses primarily on adaptive dynamic programming (ADP)-based tracking control of the hydraulic-driven flexible robotic manipulator system (HDFRMS) with varying payloads and uncertainties via singular perturbation theory (SPT). Firstly, dynamics is derived using a driven Jacobin matrix, which represents coupling between hydraulic servo-driven rigid–flexible established assumed mode m...

In this paper the control problem of a hydraulic servo-system is addressed. The performance achievable by classical linear controllers, e.g. PD, are usually limited due to highly nonlinear behavior of the hydraulic dynamics. This paper adopts the backstepping design strategy to develop a Lyapunov-based nonlinear controller for a hydraulic servo-system. Load, hydraulic and valve dynamics are inc...

The article presents the problem of synchronization piston rods velocity multi-cylinder electro-hydraulic servo drive. This task was presented on example a heavily loaded mobile caterpillar platform. For levelling platform, four-post support mechanism with proportional valve control system used. A linear external controller to synchronize movement cylinders used and non-linear internal for each...

Electro-hydraulic systems with regards to the their specific features and applications among other industrial systems including mechanical, electrical and pneumatic systems, have been widely taken into consideration by the scientists and researchers. Due to the fact that the electro-hydraulic system is inherently a nonlinear system, has some problems such as signals saturation, nonlinear effici...