Passivity based nonlinear control of hydraulic actuators based on an euler-lagrange formulation

Perry Y. Li, Meng Wang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Scopus citations

Abstract

A passivity framework for hydraulic actuators is developed by consideration of the compressibility energy function for a fluid with a pressure dependent bulk modulus. The typical actuator's mechanical and pressure dynamic model is shown to be the Euler-Lagrange equations for this energy function. A passivity property for the actuator is exhibited in which the hydraulic supply rate contains the compressibility energy, instead of just being P · Q. A storage function for the pressure error is then proposed based on the physical compressibility energy and the pressure error dynamics is shown to be a passive two-port subsystem. Control laws are derived using the storage function. A case study is presented to compare the new passivity based approach and the traditional backstepping approach for a trajectory tracking application. In this example, the proposed approach is less sensitive to velocity measurement error and requires lower feedback gains than the traditional approach.

Original languageEnglish (US)
Title of host publicationASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, DSCC 2011
Pages107-114
Number of pages8
DOIs
StatePublished - 2011
EventASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, DSCC 2011 - Arlington, VA, United States
Duration: Oct 31 2011Nov 2 2011

Publication series

NameASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, DSCC 2011
Volume1

Other

OtherASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, DSCC 2011
CountryUnited States
CityArlington, VA
Period10/31/1111/2/11

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