Hybrid Position/Force Control for Hydraulic Actuators

TL;DR

This paper presents a novel hybrid position/force control strategy with autonomous switching for hydraulic actuators, combining advanced control techniques and stability analysis, validated through experiments on industrial hydraulic cylinders.

Contribution

It introduces a hybrid control structure with autonomous switching and stability guarantees for hydraulic actuators, integrating multiple control techniques and experimental validation.

Findings

Successful implementation of hybrid control with autonomous switching.

Stable operation confirmed through Lyapunov-based analysis.

Effective control demonstrated on industrial hydraulic cylinders.

Abstract

In this paper a novel hybrid position/force control with autonomous switching between both control modes is introduced for hydraulic actuators. A hybrid position/force control structure with feed-forwarding, full-state feedback, including integral control error, pre-compensator of the deadzone, and low-pass filtering of the control value is designed. Controller gains are obtained via local linearization and pole placement accomplished separately for the position and force control. A hysteresis-based autonomous switching is integrated into the closed control loop, while multiple Lyapunov function based approach is applied for stability analysis of the entire hybrid control system. Experimental evaluation is shown on the developed test setup with the standard industrial hydraulic cylinders, and that for different motion and load profiles.