VS-ACC applied to a hydraulic actuator

descriptionPublicationkeyboard_double_arrow_right Article , Conference object 01 Jan 2000Publisher:IEEEJournal:Proceedings of the 2000 American Control Conference. ACC (IEEE Cat. No.00CH36334)

Authors: Raul Guenther; Mauro A. B. Cunha; Edson R. de Pieri; Victor J. De Negri;

doi: 10.1109/acc.2000.876997

VS-ACC applied to a hydraulic actuator

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Abstract

In this paper a complete stability proof of a cascade controller applied to a hydraulic actuator is presented. To deal with the mechanical and hydraulic uncertainties an adaptive and a variable structure control law are combined. The theoretical approach may be generalized to the case of hydraulically driven manipulators. An experimental implementation performed on a linear hydraulic actuator illustrates the main features of the proposed controller.

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Universidade Federal de Santa Catarina
Brazil

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