Control of a single-link mobile hydraulic actuator with a pressure compensator
2014 (English)In: 2014 IEEE Conference on Control Applications (CCA), 2014, 216-221 p.Conference paper (Refereed)
A problem of position control of a single-link hydraulic drive, including model uncertainties and disturbances, is studied. Main properties of mobile hydraulic systems are taking into account, namely a nonlinearity of a valve and a pressure compensator. A discontinuous control law coupled with a static nonlinearity inversion and a feed-forward term of velocity is proposed. Besides, a novel model with pressure compensator is presented and the closed-loop stability analysis is provided. Results of experiments carried out on a forestry crane confirm the efficacy of the proposed approach.
Place, publisher, year, edition, pages
2014. 216-221 p.
, IEEE International Conference on Control Applications, ISSN 1085-1992
IdentifiersURN: urn:nbn:se:umu:diva-112541ISI: 000366055800035ISBN: 978-1-4799-7409-2OAI: oai:DiVA.org:umu-112541DiVA: diva2:881177
IEEE Conference on Control Applications (CCA), Nice, France, OCT 08-10, 2014