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

流体动力技术在各种应用中得到广泛使用：腿式液压动力步行机、液压机器人、精密机床、飞行控制执行器、主动悬架、运动模拟器、挖掘机和气动假肢。然而，传统的流体动力致动器的性能不再满足当前的需求。液压机械手现在需要执行合作的任务，包括处理一个共同的对象。此外，作为飞机等安全关键系统的组成部分，液压执行器必须即使在出现故障的情况下也保持出色的性能。气动执行器也需要新的应用，如机器介导的康复。因此，深入了解流体动力系统的动态特性，开发先进的工具和支持理论，用于流体动力系统的鲁棒控制设计和智能状态监测是非常必要的。

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.