A Lyapunov controller for stable haptic manipulation of hydraulic actuators

2011 ◽  
Vol 22 (3) ◽  
pp. 241-261 ◽  
Author(s):  
Kurosh Zarei-nia ◽  
Nariman Sepehri ◽  
Qiong Wu
Keyword(s):  
Hydraulic Actuators ◽  
Lyapunov Controller

scholarly journals Internal Leakage Fault Detection and Tolerant Control of Single-Rod Hydraulic Actuators

2014 ◽  
Vol 2014 ◽  
pp. 1-14 ◽  
Author(s):  
Jianyong Yao ◽  
Guichao Yang ◽  
Dawei Ma
Keyword(s):  
Fault Detection ◽  
Simple Structure ◽  
Control Method ◽  
Fault Tolerant ◽  
Parameter Adaptation ◽  
Servo Systems ◽  
Hydraulic Actuators ◽  
Quadratic Lyapunov Functions ◽  
Safety And Reliability ◽  
Hydraulic Servo

The integration of internal leakage fault detection and tolerant control for single-rod hydraulic actuators is present in this paper. Fault detection is a potential technique to provide efficient condition monitoring and/or preventive maintenance, and fault tolerant control is a critical method to improve the safety and reliability of hydraulic servo systems. Based on quadratic Lyapunov functions, a performance-oriented fault detection method is proposed, which has a simple structure and is prone to implement in practice. The main feature is that, when a prescribed performance index is satisfied (even a slight fault has occurred), there is no fault alarmed; otherwise (i.e., a severe fault has occurred), the fault is detected and then a fault tolerant controller is activated. The proposed tolerant controller, which is based on the parameter adaptive methodology, is also prone to realize, and the learning mechanism is simple since only the internal leakage is considered in parameter adaptation and thus the persistent exciting (PE) condition is easily satisfied. After the activation of the fault tolerant controller, the control performance is gradually recovered. Simulation results on a hydraulic servo system with both abrupt and incipient internal leakage fault demonstrate the effectiveness of the proposed fault detection and tolerant control method.

Output feedback backstepping control of hydraulic actuators with valve dynamics compensation

2021 ◽  
Vol 158 ◽  
pp. 107769
Author(s):  
Wenxiang Deng ◽  
Jianyong Yao ◽  
Yaoyao Wang ◽  
Xiaowei Yang ◽  
Jiuhui Chen
Keyword(s):  
Output Feedback ◽  
Backstepping Control ◽  
Hydraulic Actuators ◽  
Valve Dynamics

scholarly journals Vibration Control of Buildings Using Magnetorheological Damper: A New Control Algorithm

2013 ◽  
Vol 2013 ◽  
pp. 1-10 ◽  
Author(s):  
Aly Mousaad Aly
Keyword(s):  
Vibration Control ◽  
Control Algorithm ◽  
Fuzzy Logic Controller ◽  
Mr Damper ◽  
Maximum Energy ◽  
Magnetorheological Damper ◽  
Control Algorithms ◽  
Earthquake Loads ◽  
Building Model ◽  
Lyapunov Controller

This paper presents vibration control of a building model under earthquake loads. A magnetorheological (MR) damper is placed in the building between the first floor and ground for seismic response reduction. A new control algorithm to command the MR damper is proposed. The approach is inspired by a quasi-bang-bang controller; however, the proposed technique gives weights to control commands in a fashion that is similar to a fuzzy logic controller. Several control algorithms including decentralized bang-bang controller, Lyapunov controller, modulated homogeneous friction controller, maximum energy dissipation controller, and clipped-optimal controller are used for comparison. The new controller achieved the best reduction in maximum interstory drifts and maximum absolute accelerations over all the control algorithms presented. This reveals that the proposed controller with the MR damper is promising and may provide the best protection to the building and its contents.

Position Control of Hydraulic Actuators Using Fuzzy Pulse Width Modulation (PWM)

2015 ◽  
Vol 735 ◽  
pp. 294-298 ◽  
Author(s):  
Wei Ying Lai ◽  
Nurfarahin Onn ◽  
Collin Howe Hing Tang ◽  
Mohamed Hussein
Keyword(s):  
Fuzzy Logic ◽  
Pulse Width ◽  
Pulse Width Modulation ◽  
Solenoid Valve ◽  
Operating Conditions ◽  
Hydraulic Actuators ◽  
Non Linear ◽  
Fuzzy Logic Approach ◽  
Logic Approach ◽  
Non Linear System

Hydraulic actuators are widely employed for industrial automation for its high power over weight ratio, functionality in tough operating conditions and low cost. However, the dynamics of hydraulic systems are non-linear and the system subjected to non-smooth and discontinuous non-linearities due to directional change of valve opening, friction, valve overlap and changes of hydraulic pressure acted on valve spool. Taking into account the effect of nonlinear parameter variations such as bulk modulus, compressibility of oil or viscosity of oil, fuzzy logic approach is chosen. Fuzzy control can adapt the inconstant working condition and non-linear system alongside of its robustness. For PWM controlled hydraulic component such as solenoid valve, effective approximation of the flow properties in a solenoid valve is essential. In this paper, the effect of fuzzy logic approach incorporated on pulse width modulation (PWM) controlled hydraulic system is to be investigated and experimentally verified.

Energy Based Control of Hydraulic Actuators in Steel Rolling Mills

2004 ◽  
Vol 37 (15) ◽  
pp. 29-34 ◽  
Author(s):  
Gemot Grabmair ◽  
Kurt Schlacher ◽  
Georg KeintzeP
Keyword(s):  
Steel Rolling ◽  
Rolling Mills ◽  
Hydraulic Actuators
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