Title :
Robustness to Friction Estimation for Nonlinear Position Control of an Electrohydraulic Actuator
Author :
Ayalew, Beshahwired
Author_Institution :
Clemson Univ., Clemson
Abstract :
A near input-output (IO) linearizing position tracking controller is a nonlinear controller based on a nonlinear model of an electrohydraulic actuator. It uses feedback of piston friction force. In this paper, a friction model is identified from offline experiments and is subsequently approximated with differentiable functions. The effects of altering the friction estimate and even of ignoring it altogether, are investigated. For the test system considered, the near IO linearizing controller is moderately robust to this uncertainty in friction.
Keywords :
electric actuators; estimation theory; feedback; friction; hydraulic actuators; nonlinear control systems; position control; robust control; electrohydraulic actuator; friction estimation; input-output linearizing position tracking controller; nonlinear position control; piston friction force; robustness; Control systems; Electrohydraulics; Force feedback; Friction; Hydraulic actuators; Pistons; Position control; Robust control; System testing; Uncertainty; IO linearization; electrohydraulic actuator; friction estimation; position control; robustness;
Conference_Titel :
American Control Conference, 2007. ACC '07
Conference_Location :
New York, NY
Print_ISBN :
1-4244-0988-8
Electronic_ISBN :
0743-1619
DOI :
10.1109/ACC.2007.4282679