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Passivity Based Nonlinear Control of Hydraulic Actuators Based on an Euler-Lagrange Formulation

[+] Author Affiliations
Perry Y. Li, Meng Wang

University of Minnesota, Minneapolis, MN

Paper No. DSCC2011-6197, pp. 107-114; 8 pages
  • ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control
  • ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, Volume 1
  • Arlington, Virginia, USA, October 31–November 2, 2011
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5475-4
  • Copyright © 2011 by ASME


A passivity framework for hydraulic actuators is developed by consideration of the compressibility energy function for a fluid with a pressure dependent bulk modulus. The typical actuator’s mechanical and pressure dynamic model is shown to be the Euler-Lagrange equations for this energy function. A passivity property for the actuator is exhibited in which the hydraulic supply rate contains the compressibility energy, instead of just being P · Q. A storage function for the pressure error is then proposed based on the physical compressibility energy and the pressure error dynamics is shown to be a passive two-port subsystem. Control laws are derived using the storage function. A case study is presented to compare the new passivity based approach and the traditional backstepping approach for a trajectory tracking application. In this example, the proposed approach is less sensitive to velocity measurement error and requires lower feedback gains than the traditional approach.

Copyright © 2011 by ASME



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