This paper presents a combined scheme of identification and robust torque control for rotary hydraulic actuators. The composite controller consists of a dynamic feedback linearizing inner loop cascaded with an optimal feedback outer loop. The proposed controller allows the actuator to generate desired torque irrespective of the actuator motion. In fact, the controller reduces significantly the impedance of the actuator as seen by its external load, making the system an ideal source of torque suitable for many robotics and automation applications. The stability analysis of internal unobservable dynamics is presented. An identification method to extract the parameters of nonlinear model of actuator dynamics and to estimate a bound for modeling uncertainty, used for synthesis of the outer optimal controller, is also presented. The theoretical results of the paper are illustrated experimentally on pitch actuator of the Schilling industrial robot.
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December 2003
Technical Papers
A Combined Scheme for Identification and Robust Torque Control of Hydraulic Actuators
Mehrzad Namvar,
Mehrzad Namvar
Canadian Space Agency, 6767 route de l’Aeroport, Saint-Hubert, Quebec, Canada J3Y 8Y9
mehrzad.namvar@space.gc.ca
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Farhad Aghili
Farhad Aghili
Canadian Space Agency, 6767 route de l’Aeroport, Saint-Hubert, Quebec, Canada J3Y 8Y9
farhad.aghili@space.gc.ca
Search for other works by this author on:
Mehrzad Namvar
mehrzad.namvar@space.gc.ca
Canadian Space Agency, 6767 route de l’Aeroport, Saint-Hubert, Quebec, Canada J3Y 8Y9
Farhad Aghili
farhad.aghili@space.gc.ca
Canadian Space Agency, 6767 route de l’Aeroport, Saint-Hubert, Quebec, Canada J3Y 8Y9
Contributed by the Dynamic Systems, Measurement, and Control Division of THE AMERICAN SOCIETY OF MECHANICAL ENGINEERS for publication in the ASME JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received by the ASME Dynamic Systems and Control Division March 13, 2002; final revision, April 11, 2003. Associate Editor: Chait.
J. Dyn. Sys., Meas., Control. Dec 2003, 125(4): 595-606 (12 pages)
Published Online: January 29, 2004
Article history
Received:
March 13, 2002
Revised:
April 11, 2003
Online:
January 29, 2004
Citation
Namvar, M., and Aghili, F. (January 29, 2004). "A Combined Scheme for Identification and Robust Torque Control of Hydraulic Actuators ." ASME. J. Dyn. Sys., Meas., Control. December 2003; 125(4): 595–606. https://doi.org/10.1115/1.1636777
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