Linear Perturbation Adaptive Control of Hydraulically Driven Manipulators

T.O. Andersen, M.R. Hansen, Finn Conrad

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review


A method for synthesis of a robust adaptive scheme for a hydraulically driven manipulator, that takes full advantage of any known system dynamics to simplify the adaptive control problem for the unknown portion of the dynamics is presented. The control method is based on adaptive perturbation control.Using the Lyapunov approach, under slowly time-varying assumptions, it is shown that the tracking error and the parameter error remain bounded. This bound is a function of the ideal parameters and a bounded disturbance. The control algorithm decouples and linearizes the manipulator so that each joint behaves as an independent second-order system with fixed dynamics.
Original languageEnglish
Title of host publicationProceedings of ASME Intl Mechanical Engineering Congress IMECE´04 : Dynamic Systems and Control
Place of PublicationNew York, USA
PublisherAmerican Society of Mechanical Engineers
Publication date2004
ISBN (Print)0-7918-4179-0
Publication statusPublished - 2004
EventASME International Mechanical Engineering Congress IMECE´04 - Anaheim, CA, United States
Duration: 14 Nov 200419 Nov 2004


ConferenceASME International Mechanical Engineering Congress IMECE´04
CountryUnited States
CityAnaheim, CA
Internet address

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