Nonlinear Control Techniques for Electro-Hydraulic Actuators in Robotics Engineering meets the needs of those working in advanced electro-hydraulic controls for modern mechatronic and robotic systems. The non-linear EHS control methods covered are proving to be more effective than traditional controllers, such as PIDs. The control strategies given address parametric uncertainty, unknown external load disturbance, single-rod actuator characteristics, and control saturation. Theoretical and experimental validations are explained, and examples provided. Based on the authors cutting-edge research, this work is an important resource for engineers, researchers, and students working in EHS.
| Foreword |
|
ix | |
| Preface |
|
xi | |
|
|
|
xiii | |
|
|
|
xvii | |
| Acknowledgement |
|
xix | |
| Editors |
|
xxi | |
| Contributors |
|
xxiii | |
| Symbols |
|
xxvii | |
|
|
|
1 | (6) |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
2 Model Construction of Electro-Hydraulic Control System |
|
|
7 | (10) |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
3 Linear PID Control Design |
|
|
17 | (28) |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
45 | (24) |
|
|
|
|
|
|
|
|
|
5 Output Feedback Control Method |
|
|
69 | (28) |
|
|
|
|
|
|
|
6 Parametric Adaptive Control Method |
|
|
97 | (24) |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| References |
|
121 | (4) |
| Index |
|
125 | |
Qing Guo received his B.E. degree in Automation from Harbin Institute of Technology (Harbin, China) in 2003, and went on to earn his M.S. and Ph.D. degrees there, in 2005 and 2008, respectively. In 2009 he became a Lecturer at the School of Aeronautics and Astronautics, University of Electronic Science and Technology of China (ChengDu, China); and in 2013 he was promoted to Associate Professor. From December 2013 to December 2014 he served as an academic visitor at the Center for Power Transmission and Motion Control, Department of Mechanical Engineering, at the University of Bath, UK. Dr. Guo's research interests include robust and adaptive control, mechatronic systems, and rehabilitation robots.
Dan Jiang received her B.E. in Mechanical Engineering (2002), M.S. (2005) and Ph.D. (2009) in Fluid Power Transmission and Control, from the Harbin Institute of Technology (Harbin, China). Since April 2009, she has been with the School of Mechatronics Engineering, University of Electronic Science and Technology of China (ChengDu, China) as a Lecturer. Her research interests include hydraulic control and microfluidic technology, and she has published several research papers in these areas.
More info about Taylor & Francis e-books