Controller design, analysis and diagnosis in fluid power actuation systems: challenges in fundamentals and applications

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Fluid power technology enjoys widespread use in a variety of applications: legged hydraulically powered walking machines, hydraulic robots, precision machine tools, flight control actuators, active suspension, motion simulators, excavator machines, and pneumatic prostheses. Traditional performance of fluid power actuators, however, no longer meets the current demands. Hydraulic manipulators are now required to perform cooperative tasks including handling a common object. Also, as an integral part of safety-critical systems such as aircraft, hydraulic actuators must maintain excellent performance even in the presence of faults. Pneumatic actuators are also in demand for new applications such as machine-mediated rehabilitation. Thus, it is essential to gain an in-dept understanding of the dynamics, and to develop advanced tools and supporting theories for robust control design and intelligent condition monitoring, of fluid power systems.