The reduction of stick-slip friction in hydraulic actuators

Owen, William J.; Croft, Elizabeth A.

doi:10.1109/tmech.2003.816804

Cited by 75 publications

(45 citation statements)

References 24 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…Nominal parameters and linear motor dynamics for computer simulation are referred to. 10,14 The electric motor transfer function used to computer simulation is represented as …”

Section: Simulation and Discussionmentioning

confidence: 99%

See 1 more Smart Citation

A robust control of electro hydrostatic actuator using the adaptive back-stepping scheme and fuzzy neural networks

Kim

Park

Lee

et al. 2010

Int. J. Precis. Eng. Manuf.

View full text Add to dashboard Cite

In general, the position control of electro hydrostatic actuator(EHA) systems is difficult because of the large variation of the effective bulk modulus of the working fluid, which is due to the absence of a heat exchanger like a reservoir tank, the friction between the cylinder and piston, and the external disturbance force. Moreover, it is difficult to identify the values of the effective bulk modulus and friction. In this paper, the variation of the effective bulk modulus, friction, and external disturbance are considered as uncertainties of EHA systems. To solve the problems due to these system uncertainties, an adaptive back-stepping control scheme with fuzzy neural networks(FNNs) is proposed. The effectiveness of the adaptive back-stepping control(ABSC) system with FNNs was compared with those of the standard back-stepping control(BSC) system and the ABSC system through computer simulation.

show abstract

“…Nominal parameters and linear motor dynamics for computer simulation are referred to. 10,14 The electric motor transfer function used to computer simulation is represented as …”

Section: Simulation and Discussionmentioning

confidence: 99%

“…x & and F v denote Coulomb, static, Stribeck velocity, and viscous coefficients, 10,11 respectively F d denotes disturbance.…”

Section: Stmentioning

confidence: 99%

A robust control of electro hydrostatic actuator using the adaptive back-stepping scheme and fuzzy neural networks

Kim

Park

Lee

et al. 2010

Int. J. Precis. Eng. Manuf.

View full text Add to dashboard Cite

show abstract

“…For a comprehensive understanding of the friction effect models, see, for instance [23][24][25][26]. Besides, without loss of generality, the transport delay time modeling error in the transmission line is added into the general plant as a frequency weighting function e −sT , where T is the delay time.…”

Section: System Descriptionmentioning

confidence: 99%

“…(25) and (26) are in the proper form to be solved simultaneously. Then, instead of utilizing the time-consuming polar plots method proposed in [8,9], the possible occurrence of limit cycles can then be determined in a straightforward way by finding a combination of K P and K I gains which solves Eqs.…”

Section: Detection Of Limit Cycles For Pi Controlled Electro-hydraulimentioning

confidence: 99%

Characterization and quenching of friction-induced limit cycles of electro-hydraulic servovalve control systems with transport delay

Wang

2010

ISA Transactions

View full text Add to dashboard Cite

“…These types of actuators utilize servo-valves, which introduce switching in the pressure dynamics in these actuators. The dynamics of this system can be described by [50]: Many other hydraulic systems with valves undergo switching dynamics. Figure 2-5 shows a hydraulic-ram pump, which also undergoes switching in its dynamics due two valves yielding three possible dynamic modes of operation, see [34] for details.…”

Section: Fluidic Systemsmentioning

confidence: 99%

Robust Adaptive Control of Switched Systems

Rifai¹

2009

Switched Systems

View full text Add to dashboard Cite

In this thesis, robust adaptive controllers are developed for classes of switched nonlinear systems. Switched systems are those governed by differential equations, which undergo vector field switching due to sudden changes in model characteristics. Such systems arise in many applications such as mechanical systems with contacts, electrical systems with switches, and thermal-fluidic systems with valves and phase changes. The presented controllers guarantee system stability, under typical adaptive control assumptions, for systems with piecewise differentiable bounded parameters and piecewise continuous disturbances without requiring a priori knowledge on such parameters or disturbances. The effect of plant variation and switching is reduced to piecewise continuous and impulsive inputs acting on a Bounded Input Bounded State (BIBS) stable closed loop system. This, in turn, provides a separation between the robust stability and robust performance control problems. The developed methodology provides clear guidelines for steady-sate and transient performance optimization and allows for parameter scheduling and multiple model controller adjustment techniques to be utilized with no stability concerns. The results are illustrated for various systems including contact-based robotic manipulation and Atomic Force Microscope (AFM) based nano-manipulation.

show abstract

The reduction of stick-slip friction in hydraulic actuators

Cited by 75 publications

References 24 publications

A robust control of electro hydrostatic actuator using the adaptive back-stepping scheme and fuzzy neural networks

A robust control of electro hydrostatic actuator using the adaptive back-stepping scheme and fuzzy neural networks

Characterization and quenching of friction-induced limit cycles of electro-hydraulic servovalve control systems with transport delay

Robust Adaptive Control of Switched Systems

Contact Info

Product

Resources

About