Title :
Robust control techniques for hydraulic actuators
Author :
Skarpetis, M.G. ; Koumboulis, F.N. ; Tzamtzi, M.P.
Author_Institution :
Halkis Inst. of Technol., Halkis
Abstract :
Robust design techniques for controlling the velocity of a hydraulic actuator having uncertain parameters due to physical and linearization assumptions, are proposed. In particular, the design requirement of robust asymptotic command following through robust regional stabilizability is studied using an independent from the uncertainties "robust" PID controller. Moreover, the problem of robust asymptotic tracking via a robust PI state feedback controller is considered. In both cases explicit finite step algorithms for the computation of the robust controller parameters are presented. The effectiveness of the controllers for the hydraulic actuator is illustrated through simulations for several values of the model\´s uncertain parameters.
Keywords :
PI control; asymptotic stability; control system synthesis; hydraulic actuators; robust control; state feedback; three-term control; uncertain systems; PI state feedback controller; hydraulic actuator; robust PID controller; robust asymptotic command; robust control design technique; robust regional stabilizability; uncertain parameters; Computational modeling; Damping; Hydraulic actuators; Pistons; Robust control; Robustness; Servomechanisms; State feedback; Three-term control; Valves;
Conference_Titel :
Control & Automation, 2007. MED '07. Mediterranean Conference on
Conference_Location :
Athens
Print_ISBN :
978-1-4244-1282-2
Electronic_ISBN :
978-1-4244-1282-2
DOI :
10.1109/MED.2007.4433688