Nonlinear force/pressure tracking of an electro-hydraulic actuator

In this paper, a Lyapunov-based control algorithm is developed for the forc e/pressure tracking control of an electro-hydraulic actuator. The controlle r relies on an accurate model of the system. To compensate for the paramete r uncertainties, a standard parameter adaptation based on Lyapunov analysis is applied. The control law is coupled with the adaptation scheme and appl ied to an experimental system. Friction modeling and compensation for press ure tracking are discussed and experimental results shown. The results show that the nonlinear control algorithm together with the adaptation scheme g ives a good performance for the specified task. [S0022-0434(00)00501-3].