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

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...

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Vydáno v:IEEE Control systems magazine 21, 2 (2001).
Hlavní autor: Niksefat, N.
Médium: Článek
Jazyk:English
Témata:
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.