Publication
Adaptive reduction of the order of derivation in the control of a hydraulic differential cylinder
| dc.contributor.author | Tar, József K. | |
| dc.contributor.author | Bitó, János F. | |
| dc.contributor.author | Rudas, Imre J. | |
| dc.contributor.author | Tenreiro Machado, J. A. | |
| dc.date.accessioned | 2019-03-26T11:30:58Z | |
| dc.date.available | 2019-03-26T11:30:58Z | |
| dc.date.issued | 2005-05 | |
| dc.description.abstract | Servo valve controlled hydraulic differential cylinders are non-linear, strongly coupled multivariable electromechanical tools applicable for driving e.g. manipulators. When the piston has finite but considerable velocity with respect to the cylinder the system’s behavior can be “linearized” because the viscous friction i.e. the main source of disturbance is smooth function of this velocity and causes linear damping. When this velocity is in the vicinity of zero the effect of adhesion is the dominating disturbance force that abruptly changes direction depending on the sign of this velocity. Furthermore, at zero relative velocity adhesion can compensate arbitrary forces within certain limits keeping the piston fixed. In the paper a concise application of the Stribeck model of friction and adhesion is reported in an adaptive control in which varying fractional order derivatives are used to reduce the hectic behavior of friction in the case of “critical” trajectories that asymptotically converge to a fixed position and zero velocity. Simulation results made by INRIA’s Scilab are presented. It is concluded that the combined application of the two adaptive techniques reported accurate control can be achieved without knowing the accurate model of the piston-cylinder system. | pt_PT |
| dc.description.version | N/A | pt_PT |
| dc.identifier.uri | http://hdl.handle.net/10400.22/13124 | |
| dc.language.iso | eng | pt_PT |
| dc.relation.ispartofseries | RAAD’05; | |
| dc.subject | Adaptive Control | pt_PT |
| dc.subject | Fractional Order Derivatives | pt_PT |
| dc.subject | Nonlinear System’s Control | pt_PT |
| dc.subject | Positive Displacement Hydraulic Systems | pt_PT |
| dc.title | Adaptive reduction of the order of derivation in the control of a hydraulic differential cylinder | pt_PT |
| dc.type | conference object | |
| dspace.entity.type | Publication | |
| oaire.citation.conferencePlace | Alpe-Adria-Danube Region Bucharest | pt_PT |
| oaire.citation.endPage | 8 | pt_PT |
| oaire.citation.startPage | 1 | pt_PT |
| oaire.citation.title | RAAD’05, 14th International Workshop on Robotics in Alpe | pt_PT |
| person.familyName | Tenreiro Machado | |
| person.givenName | J. A. | |
| person.identifier.ciencia-id | 7A18-4935-5B29 | |
| person.identifier.orcid | 0000-0003-4274-4879 | |
| person.identifier.rid | M-2173-2013 | |
| person.identifier.scopus-author-id | 55989030100 | |
| rcaap.rights | openAccess | pt_PT |
| rcaap.type | conferenceObject | pt_PT |
| relation.isAuthorOfPublication | 82cd5c17-07b6-492b-b3e3-ecebdad1254f | |
| relation.isAuthorOfPublication.latestForDiscovery | 82cd5c17-07b6-492b-b3e3-ecebdad1254f |