Design and experimental evaluation of a robust force controller for a 6-link electro-hydraulic manipulator via h∞ control theory

Design and experimental evaluation of a

Design and experimental evaluation of a QFT contact task controller for electro-hydraulic actuators

✍ N. Niksefat; N. Sepehri; Q. Wu 📂 Article 📅 2006 🏛 John Wiley and Sons 🌐 English ⚖ 819 KB

## Abstract This paper presents design and experimental evaluation of a robust contact task controller for an electro‐hydraulic actuator that operates under significant system uncertainties and nonlinearities. The designed controller allows the actuator to follow a free space trajectory, and upon c