Abstract
Force control of a single-rod electrohydraulic actuator is investigated. The model considers the friction effect of the actuator. First, a non-linear force controller using a feedback domination approach, which can globally finite-time stabilise the force tracking error system without the friction parameter uncertainties, is proposed. Then, another feedback domination controller is proposed to cope with the friction parameter uncertainties. To estimate the unmeasurable states, an observer with finite-time convergence is developed. Rigorous stability analysis is given. Compared with the conventional output feedback backstepping control method, the proposed output feedback domination control scheme provides a faster convergence rate and a higher tracking accuracy for force tracking. Numerical simulation results demonstrate the effectiveness of the proposed control design.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
