Switching contact task control in hydraulic actuators: Stability analysis and experimental evaluation

DOI10.1002/rnc.1411zbMath1185.93090OpenAlexW2025291222MaRDI QIDQ3552340

Pooya Sekhavat, Qiong Wu, Nariman Sepehri

Publication date: 15 April 2010

Published in: International Journal of Robust and Nonlinear Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/rnc.1411

zbMATH Keywords

stability analysisLyapunov exponentshydraulic actuatorscontact task control

Mathematics Subject Classification ID

Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05) Automated systems (robots, etc.) in control theory (93C85) Control problems involving ordinary differential equations (34H05) Stabilization of solutions to ordinary differential equations (34H15)

Uses Software

• DMC
• Dynamics

Cites Work

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• On Lyapunov's stability analysis of non-smooth systems with applications to control engineering
• On the approximate computation of solutions of ordinary differential equations with discontinuous right-hand sides
• On design of continuous Lyapunov's feedback control
• Design and experimental evaluation of a QFT contact task controller for electro‐hydraulic actuators
• Lyapunov stability theory of nonsmooth systems
• Calculation of Lyapunov Exponents using Nonstandard Finite Difference Discretization Scheme: A Case Study
• Ergodic theory of chaos and strange attractors
• A new model for control of systems with friction

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