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Switching contact task control in hydraulic actuators: Stability analysis and experimental evaluation
Author(s) -
Sekhavat P.,
Wu Q.,
Sepehri N.
Publication year - 2009
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.1411
Subject(s) - control theory (sociology) , actuator , sliding mode control , controller (irrigation) , lyapunov function , position (finance) , lyapunov stability , equilibrium point , exponential stability , task (project management) , motion control , computer science , control engineering , control (management) , engineering , mathematics , physics , robot , artificial intelligence , mathematical analysis , finance , quantum mechanics , nonlinear system , agronomy , economics , biology , differential equation , systems engineering
A switching contact task control for hydraulic actuators is proposed. The controller is built upon three individually designed control laws for three phases of motion: (1) position regulation in free space, (2) impact suppression and stable transition from free to constrained motion and (3) force regulation in sustained‐contact motion. The position and force control schemes are capable of asymptotic set‐point regulation in the presence of actuator friction and without the complexity of sliding mode or adaptive control techniques. The intermediate impact control scheme is included for the first time to dampen the undesirable impacts and dissipate the impact energy that could potentially drive the whole system unstable. The solution concept and the stability of the complete switching control system are analyzed rigorously using the Filippov's solution concept and the concept of Lyapunov exponents. Both computer simulations and experiments are carried out to demonstrate the efficacy of the designed switching control law. Copyright © 2009 John Wiley & Sons, Ltd.