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Gain scheduling control for electro-hydraulic servo system considering time-delay modeling error

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2 Author(s)
Takahiro, S. ; Moog Japan Ltd., Hiratsuka, Japan ; Kenko, U.

Electro-hydraulic servo system has been used in many industrial applications for high power in size, high response and fine repeatability. But, load variation causes a degradation of control characteristic. We introduce a scheduling parameter which is a function of hydraulic force against load, and apply it for gain scheduled controller design to maintain steady control performance under comparatively large load variation. Furthermore, we take time-delay into consideration as modeling error so that achieve desirable follow-up performance. Usefulness of this approach is confirmed by experiments.

Published in:

Control Applications, 2004. Proceedings of the 2004 IEEE International Conference on  (Volume:2 )

Date of Conference:

2-4 Sept. 2004