This paper presents the derivation, simulation and implementation of a nonlinear tracking control law for a hydraulic servosystem. An analysis of the nonlinear system equations is used in the derivation of a Lyapunov function that provides for exponentially stable force trajectory tracking. This control law is then extended to provided position tracking. The proposed controller is simulated and then implemented on an experimental hydraulic system to test the limits of its performance and the realistic effects of friction.
CITATION STYLE
Sohl, G. A., & Bobrow, J. E. (1997). Experiments and simulations on the nonlinear control of a hydraulic servosystem. In Proceedings of the American Control Conference (Vol. 1, pp. 631–635). IEEE. https://doi.org/10.1109/acc.1997.611877
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