ADAPTIVE, HIGH-BANDWIDTH CONTROL OF A HYDRAULIC ACTUATOR

Hydraulic servovalve controlled systems contain many time-varying dyna mic characteristics that are difficult to model. Controllers for such systems must either adapt to these changing parameters or be robust en ough to handle the parameter variations. In order to achieve the highe st possible bandwidth, an adaptive controller is developed for the sys tem that uses full-state feedback for simultaneous parameter identific ation and tracking control. This controller takes into account the hyd raulic fluid compressibility with an on-line identification scheme. Ex perimental results demonstrate a four fold improvement in bandwidth as compared to a conventional fixed gain proportional controller.