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TECHNICAL PAPERS

Design of a Nonlinear Adaptive Controller for an Electrohydraulic Actuator

[+] Author and Article Information
K. Ziaei, N. Sepehri

Experimental Robotics and Teleoperation Laboratory, Department of Mechanical and Industrial Engineering, The University of Manitoba, Winnipeg, Manitoba, Canada R3T-5V6

J. Dyn. Sys., Meas., Control 123(3), 449-456 (Dec 01, 1998) (8 pages) doi:10.1115/1.1386652 History: Received December 01, 1998
Copyright © 2001 by ASME
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References

Figures

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Typical velocity step response of the actuator (experiment)
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Steady-state velocity response versus input signal (experiment)
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General structure of indirect MRA nonlinear controller
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Linear MRA control response (experiment); dashed line: set point input; dotted line: reference model input; solid line: plant response
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Nonlinear MRA control response (experiment)
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Identified static nonlinearity
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Nonlinear MRA control response to loading (experiment)
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Nonlinear MRA control response to increased supply pressure (experiment)
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Nonlinear MRA control response to manual changes of model parameters (experiment)
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Nonlinear MRA control response to small step input (experiment)
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Nonlinear MRA control response to tracking of a decaying sinusoidal trajectory (experiment)

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