Automatic Current-Constrained Double Loop ADRC for Electro-Hydrostatic Actuator Based on Singular Perturbation Theory

A Robust Position Control of Electro-hydrostatic Actuator Systems

In this paper, an adaptive PID sliding mode controller is proposed for the position control of electro-hydrostatic actuator(EHA) systems with system uncertainties and saturation in the motor. An EHA prototype is developed and system modeling and parameter identification are executed. Then, adaptive PID sliding mode controller and optimal anti-windup PID controller are designed and the performan...

Singular perturbation theory

When we apply the steady-state approximation (SSA) in chemical kinetics, we typically argue that some of the intermediates are highly reactive, so that they are removed as fast as they are made. We then set the corresponding rates of change to zero. What we are saying is not that these rates are identically zero, of course, but that they are much smaller than the other rates of reaction. The st...

Geometric Singular Perturbation Theory

Development of friction free controller for electro-hydrostatic actuator using feedback modulator and disturbance observer

Hydraulic actuators have high power-to-weight ratios, making them suitable for high-power robotic applications such as in walking robots and construction machines. However, large frictional forces in hydraulic actuators, rotary hydraulic actuators in particular, degrade the control performance. To suppress frictional forces and increase robustness against modeling errors, this study considered ...

Singular constrained linear systems

In the linear system Ax = b the points x are sometimes constrained to lie in a given subspace S of column space of A. Drazin inverse for any singular or nonsingular matrix, exist and is unique. In this paper, the singular consistent or inconsistent constrained linear systems are introduced and the effect of Drazin inverse in solving such systems is investigated. Constrained linear system arise ...