scholarly journals Evaluation of Tracking Control for Hydraulic Direct-drive System

2020 ◽  
Vol 13 (3) ◽  
pp. 17-24
Author(s):  
Juri SHIMIZU ◽  
Takuya OTANI ◽  
Kenji HASHIMOTO ◽  
Atsuo TAKANISHI
Keyword(s):  
Tracking Control ◽  
Drive System ◽  
Direct Drive

Adaptive Backstepping Control of the Gripping Process of Heavy Manipulators

2017 ◽  
Author(s):  
Lixin Yang ◽  
Xianmin Zhang
Keyword(s):  
Tracking Control ◽  
Hydraulic Drive ◽  
Adaptive Controller ◽  
Drive System ◽  
Uncertain Parameters ◽  
Backstepping Method ◽  
Nonlinear Characteristics ◽  
Cylinder Model ◽  
Stability Principle ◽  
The Stability

A valve-controlled asymmetrical cylinder model was established to study the gripping hydraulic drive system of the grip device of heavy manipulator. Due to the strong nonlinear characteristics and uncertain parameters of the model, the Lyapunov stability principle was used to design a multistage inversion adaptive controller based on backstepping method and by introducing the virtual control parameter. The simulation results reveal that the tracking control and adaptive of uncertain parameters are very effective, which confirm that the designed controller can guarantee the stability of the closed-loop clamping hydraulic drive system.

Energy Comparisons of the Adaptive Tracking Control for a Linear Drive System

2015 ◽  
Vol 764-765 ◽  
pp. 602-606 ◽  
Author(s):  
Kun Yung Chen ◽  
Rong Fong Fung
Keyword(s):  
Tracking Control ◽  
External Disturbance ◽  
Hamiltonian Function ◽  
Electrical Energy ◽  
Drive System ◽  
Nonlinear Friction ◽  
Adaptive Tracking Control ◽  
Adaptive Tracking ◽  
Tracking Controller ◽  
Linear Drive System

In this paper, a mechatronic motor-table system is realized to plan the minimum input electrical energy trajectory (MIEET) based on Hamiltonian function. In this system, the adaptive tracking controller is designed to track the MIEET to overcome the nonlinear friction and external disturbance. Moreover, trapezoidal trajectory (TT) and regulator control are compared with the MIEET by the adaptive tracking controller. Finally, it is concluded that the MIEET based on the adaptive tracking controller can obtain the minimum input electrical energy and robustness performance for the mechatronic motor table system.

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