Designing robust force control of hydraulic actuators despite system and environmental uncertainties.

The article presents the design of a robust force controller for a hydraulic actuator interacting with an uncertain environment via quantitative feedback theory (QFT). After the derivation of a realistic nonlinear differential equation model, a linearized plant transfer function is developed. The ef...

Полное описание

Библиографические подробности
Опубликовано в::	IEEE Control systems magazine 21, 2 (2001).
Главный автор:	Niksefat, N.
Формат:	Статья
Язык:	English
Предметы:	QFT. Disturbance rejection. Environmental stiffness. Environmental uncertainties. Fixed-gain controllers. Hydraulic actuators. Hydraulic component parameters. Hydraulic functions. Linearized model parameters. Linearized plant transfer function. Low-cost proportional valve. Nonlinear differential equation model. Quantitative feedback theory. Robust force control design. System uncertainties. Tracking.