  In this paper a novel hybrid position/force control with autonomous switching
between both control modes is introduced for hydraulic actuators. A hybrid
position/force control structure with feed-forwarding, full-state feedback,
including integral control error, pre-compensator of the deadzone, and low-pass
filtering of the control value is designed. Controller gains are obtained via
local linearization and pole placement accomplished separately for the position
and force control. A hysteresis-based autonomous switching is integrated into
the closed control loop, while multiple Lyapunov function based approach is
applied for stability analysis of the entire hybrid control system.
Experimental evaluation is shown on the developed test setup with the standard
industrial hydraulic cylinders, and that for different motion and load
profiles.
