Design of a Lyapunov Controller for an Electro-hydraulic Actuator During Contact Tasks

[+] Author and Article Information
Navid Niksefat, Christine Q. Wu, Nariman Sepehri

J. Dyn. Sys., Meas., Control 123(2), 299-307 (May 22, 2000) (9 pages) doi:10.1115/1.1367271 History: Received May 22, 2000
Copyright © 2001 by ASME
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Schematic of hydraulic actuator and environment
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Hydraulic actuator test station
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Contact response with soft environment; (a) force, (b) position, (c) velocity, (d) control signal
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Contact response with high approach velocity; (a) force, (b) velocity
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Controller’s performance in the presence of compliance uncertainty
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Multi-step contact response test; (a) force, (b) position
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Contact response with hard environment; (a) proposed nonlinear control, (b) conventional proportional control




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