Adaptive, High Bandwidth Control of a Hydraulic Actuator

[+] Author and Article Information
J. E. Bobrow, K. Lum

Department of Mechanical and Aerospace Engineering, University of California, Irvine, Irvine, CA 92717

J. Dyn. Sys., Meas., Control 118(4), 714-720 (Dec 01, 1996) (7 pages) doi:10.1115/1.2802347 History: Received September 26, 1994; Online December 03, 2007


Hydraulic servovalve controlled systems contain many time-varying dynamic characteristics that are difficult to model Controllers for such systems must either adapt to these changing parameters or be robust enough to handle the parameter variations. In order to achieve the highest possible bandwidth, an adaptive controller is developed for the system that uses full-state feedback for simultaneous parameter identification and tracking control This controller takes into account the hydraulic fluid compressibility with an on-line identification scheme Experimental results demonstrate a four fold improvement in bandwidth as compared to a conventional fixed gain proportional controller.

Copyright © 1996 by The American Society of Mechanical Engineers
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