Validation of a synthesis technique for the optimal control of an electro-hydraulic positioning system

The successive Galerkin approximation (SGA) method is presented as a means for approximating solutions to the Hamilton-Jacobi-Bellman (HJB) equation. The SGA strategy is applied to the development of optimal control laws for an electrohydraulic positioning system (EHPS) having nonlinear dynamics. An EHPS dynamic model is presented along with an experimental validation of the model. Results demonstrating the experimental application of the SGA synthesis strategy to an EHPS under a variety of operating conditions are presented. These results are compared to those obtained from a linear quadratic regulator developed from linearized model equations.