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Especially, the main focus is to improve the control performance for the swing hydraulic system with the parametric uncertainties and time delay effect caused by employing ARCPR. Firstly, the traditional CPR is introduced and the energy saving potential is analyzed. Then, the mathematical model of the displacement regulating system and swing driving system is presented. Moreover, the displacement regulating system model is simplified by considering the parametric uncertainties and time delay condition. Furthermore, a robust controller is designed to meet the system requirements. Finally, a simulation based on standard working condition is conducted and the result shows the control performance can meet the practical requirement well.<\/jats:p>","DOI":"10.1177\/0142331217707369","type":"journal-article","created":{"date-parts":[[2018,2,1]],"date-time":"2018-02-01T08:58:36Z","timestamp":1517475516000},"page":"3323-3332","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":12,"title":["Robust controller design for the excavator swing system under the active regulating common pressure rail"],"prefix":"10.1177","volume":"40","author":[{"given":"Wei","family":"Shen","sequence":"first","affiliation":[{"name":"Department of Mechatronics Engineering, University of Shanghai for Science and Technology, China"},{"name":"State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xiaoyu","family":"Su","sequence":"additional","affiliation":[{"name":"College of Electronic and Electrical Engineering, Shanghai University of Engineering Science, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yu","family":"Pang","sequence":"additional","affiliation":[{"name":"Department of Mechatronics Engineering, University of Shanghai for Science and Technology, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ruihan","family":"Zhao","sequence":"additional","affiliation":[{"name":"Department of Mechatronics Engineering, University of Shanghai for Science and Technology, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2018,2,1]]},"reference":[{"key":"bibr1-0142331217707369","first-page":"1","volume-title":"The 5th Scandinavian International Conference on Fluid Power, (SICFP)","author":"Achten PAJ","year":"1997"},{"key":"bibr2-0142331217707369","doi-asserted-by":"publisher","DOI":"10.1243\/0959651991540223"},{"key":"bibr3-0142331217707369","doi-asserted-by":"publisher","DOI":"10.1016\/j.enconman.2014.06.073"},{"key":"bibr4-0142331217707369","doi-asserted-by":"publisher","DOI":"10.1016\/j.conengprac.2008.02.002"},{"key":"bibr5-0142331217707369","author":"Hiroki S","year":"2004","journal-title":"SAE paper"},{"key":"bibr6-0142331217707369","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2013.2242418"},{"key":"bibr7-0142331217707369","doi-asserted-by":"publisher","DOI":"10.1016\/j.autcon.2009.09.005"},{"key":"bibr8-0142331217707369","doi-asserted-by":"publisher","DOI":"10.5739\/isfp.1996.79"},{"key":"bibr9-0142331217707369","doi-asserted-by":"publisher","DOI":"10.1177\/0142331208097841"},{"issue":"4","key":"bibr10-0142331217707369","first-page":"27","volume":"968","author":"Nikolaus H","year":"1977","journal-title":"Hydraulik und Pneumatik"},{"key":"bibr11-0142331217707369","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2015.10.009"},{"key":"bibr12-0142331217707369","doi-asserted-by":"publisher","DOI":"10.1002\/cplx.21840"},{"key":"bibr13-0142331217707369","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2017.2648642"},{"issue":"1","key":"bibr14-0142331217707369","first-page":"1","volume":"2013","author":"Shen W","year":"2013","journal-title":"Mathematical Problems in Engineering"},{"key":"bibr15-0142331217707369","doi-asserted-by":"publisher","DOI":"10.1016\/j.jfranklin.2014.04.007"},{"key":"bibr16-0142331217707369","doi-asserted-by":"publisher","DOI":"10.1002\/asjc.1200"},{"key":"bibr17-0142331217707369","doi-asserted-by":"publisher","DOI":"10.3901\/CJME.2009.01.057"},{"key":"bibr18-0142331217707369","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2010.2042296"},{"key":"bibr19-0142331217707369","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2014.2319355"},{"key":"bibr20-0142331217707369","doi-asserted-by":"crossref","unstructured":"Vael GEM (2000) The Innas hydraulic transformer-the key to the hydrostatic common pressure rail. 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