Robust Control of a Hydraulic Cylinder using Observer-based Nonlinear Controllers: Theoretical Development and Experimental Validation
نویسندگان
چکیده
Hydraulic cylinders are actuators with strongly nonlinear behavior. They are widely used in several industrial areas, such as heavy machines, cranes, robots, and so on. The dynamical behavior of hydraulic differential cylinders can be described by a coupled set of nonlinear differential equations. Motion control of power trains, drive trains, or even actuators has been in the focus of several scientific and industrial efforts of the last decade. Advanced control approaches are based on knowledge (models resp.) about the system to be controlled, realized by mathematical models (e. g. sets of differential equations).
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