Adaptive position control of water hydraulic cylinder and its robustness

H. Takahashi, K. Ito, S. Ikeo

Research output: Contribution to conferencePaperpeer-review


Water hydraulic servo system is an attractive system for its environmental safety. In this system, the problem for precise control is the uncertainties and/or the unmodeled dynamics which includes parameter variations depending on driving conditions and nonlinearity of system e.g. friction force, flow characteristics. In this paper, we discuss the control performance of adaptive position controller for water hydraulic servo cylinder comparing with PI controller. More specified, based on the general least square method as a parameter update law, adaptive tracking controller is constructed and its robustness for parameter change are evaluated. The experimental results show that the adaptive controller has certain robustness for parameter changes, e.g. supply pressure changes and load fluctuations comparing with PI controller.

Original languageEnglish
Number of pages5
Publication statusPublished - 2005 Dec 1
Externally publishedYes
EventSICE Annual Conference 2005 - Okayama, Japan
Duration: 2005 Aug 82005 Aug 10


ConferenceSICE Annual Conference 2005


  • Adaptive control
  • Cylinder
  • Position control
  • Servo valve
  • Water hydraulic system

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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