Optimal control for EHA-VPVM system based on feedback linearization theory

In this paper, an optimal control method based on feedback linearization is proposed for EHA-VPVM (electro-hydrostatic actuator with variable pump displacement and variable motor speed) system, which is a dual-input single-output (DISO) nonlinear system with multiplicative nonlinear property. In this work, a real EHA-VPVM system is modeled at first. Then the nonlinear model is linearized through feedback linearization and a control method is designed by using optimal control theory based on the linearized model. Simulation results show that our control method is effective for EHA-VPVM position control system, and can suppress perturbation of external load force to some degree. In addition, by simply adjusting the weighting coefficients of the displacement and the rotational speed of pump, this method can meet the different requirements on dynamic response and energy loss of system.