Dual-Mode Switched Control of an Electropneumatic Clutch Actuator

This paper proposes a stabilizing switched controller for an electropneumatic clutch actuator. Input restrictions arise from the fact that the allocation of air to and from the actuator chamber is governed by on/off valves. The dual-mode controller is a combination of a local and a global switched controller, and asymptotic stability in the region of operation of the clutch is proven. Asymptotic stability is verified and the controller's performance is investigated through experiments in a test vehicle.