This chapter discusses a modeling and passivity based control of hydraulic arms which are robotic, that is, have asymmetric cylinders. Hydraulic arms are very important components in field robotics, such as construction, agriculture, rescue , demining robotics and so on since hydraulic arms are superior to electric arms with respect to the power to weight ratio and also can keep joint forces ev...

In classic passive suspension design, comfort and road handling are conflicting design criteria. An active or semi-active suspension offers the possibility to vary the damper characteristics along with the road profile. Such systems have discrete settings or are limited in bandwidth up to 10Hz. This paper discusses the development of a controller for a passenger car using a recently developed a...

This contribution deals with different concepts of nonlinear control for mechatronic systems. Since most physical systems are nonlinear in nature, it is quite obvious that an improvement in the performance of the closed loop can often be achieved only by means of control techniques that take the essential nonlinearities into consideration. Nevertheless, it can be observed that industry often he...

A novel algorithm based on LQR approach is presented to optimally tune the gains of a PI controller of a first order plus time-delay system. In this algorithm the weighting matrices Q and R of the cost function are adjusted by the natural frequency and damping ratio of the closed–loop system. In order to prove the optimality of this algorithm, it is applied to a servo-hydraulic actuator with no...

We discuss open loop control development and simulation results for a semiactive above-knee prosthesis. The control signal consists of two hydraulic valve settings. These valves control a rotary actuator that provides torque to the prosthetic knee. We develop open loop control using biogeography-based optimization (BBO), which is a recently developed evolutionary algorithm, and gradient descent...

The objective of this paper is path planning of a 3 DOF planer robot with hydraulic actuator using genetic algorithm. First the geometric and kinematic parameters of robot were established. The equations of motion are derived by Lagrange method. We proposed the model for proportional valve and hydraulic actuators. Then using the genetic algorithm we minimized the hydraulic energy consumption as...

To compensate for heave motion, which has an adverse impact on the response of a drill-string or a riser, passive and active devices are usually used. Active heave compensators, whose control system is an essential part, allow conducting operations under more extreme weather conditions than passive ones. This paper presents a constructive method to design a nonlinear controller for an active he...

Precise control of electro-hydraulic actuator (EHA) system has been an interesting subject due to its nonlinearities and uncertainties characteristics. Good control can be designed when precise model of the system is available. Linear ARX modelling has widely been applied and satisfying result has been obtained, through linearization process. The objective of this paper is to compare ARX model ...

A car suspension incorporating a Lotus actuator and a TVR suspension/wheel unit is studied both experimentally and analytically. An emphasis is placed on hydraulic modelling using a series of transfer functions linking the hydraulic and suspension components. This is signi cantly aided by the use of a Moog 2000 programmable servo controller (PSC ) to equalize the extending and retracting ow gai...