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VS-ACC applied to a hydraulic actuator

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4 Author(s)
R. Guenther ; Dept. of Mech. Eng., Univ. Federal de Santa Catarina, Florianapolis, Brazil ; M. A. B. Cunha ; E. R. De Pieri ; V. J. De Negri

In this paper a complete stability proof of a cascade controller applied to a hydraulic actuator is presented. To deal with the mechanical and hydraulic uncertainties an adaptive and a variable structure control law are combined. The theoretical approach may be generalized to the case of hydraulically driven manipulators. An experimental implementation performed on a linear hydraulic actuator illustrates the main features of the proposed controller

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American Control Conference, 2000. Proceedings of the 2000  (Volume:6 )

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