TY - GEN
T1 - Passivity based adaptive control of a two chamber single rod hydraulic actuator
AU - Wang, Meng
AU - Li, Perry Y.
PY - 2012
Y1 - 2012
N2 - A novel nonlinear function parameterization model was proposed for nonlinear adaptive controller design. This approach re-parameterizes the nonlinear function with unknown parameters linearly, which simplifies the adaptive controller design significantly. A recently developed passivity based backstepping controller using a physical compressibility energy function for a chamber hydraulic cylinder was augmented with the parameter adaptation law to achieve trajectory tracking. We experimentally demonstrate the effectiveness of the parameterization model, and the adaptive passive controller produces an accurate trajectory tracking performance.
AB - A novel nonlinear function parameterization model was proposed for nonlinear adaptive controller design. This approach re-parameterizes the nonlinear function with unknown parameters linearly, which simplifies the adaptive controller design significantly. A recently developed passivity based backstepping controller using a physical compressibility energy function for a chamber hydraulic cylinder was augmented with the parameter adaptation law to achieve trajectory tracking. We experimentally demonstrate the effectiveness of the parameterization model, and the adaptive passive controller produces an accurate trajectory tracking performance.
UR - http://www.scopus.com/inward/record.url?scp=84869404208&partnerID=8YFLogxK
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M3 - Conference contribution
AN - SCOPUS:84869404208
SN - 9781457710957
T3 - Proceedings of the American Control Conference
SP - 1814
EP - 1819
BT - 2012 American Control Conference, ACC 2012
T2 - 2012 American Control Conference, ACC 2012
Y2 - 27 June 2012 through 29 June 2012
ER -