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Feedback Linearization-Based Position Control of an Electrohydraulic Servo System With Supply Pressure Uncertainty

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4 Author(s)
Mintsa, H.A. ; Ecole de Technol. Super., Montréal, QC, Canada ; Venugopal, R. ; Kenne, J.-P. ; Belleau, C.

Electrohydraulic servo systems (EHSS) are used for several engineering applications, and in particular, for efficient handling of heavy loads. proportional-integral-differential (PID) control is used extensively to control EHSS, but the closed-loop performance is limited using this approach, due to the nonlinear dynamics that characterize these systems. Recent studies have shown that feedback linearization is a viable control design technique that addresses the nonlinear dynamics of EHSS; however, it is important to establish the robustness of this method, given that hydraulic system parameters can vary significantly during operation. In this study, we focus on supply pressure variations in a rotational electrohydraulic drive. The supply pressure appears in a square-root term in the system model, and thus, standard adaptive techniques that require uncertain parameters to appear linearly in the system equations, cannot be used. A Lyapunov approach is used to derive an enhanced feedback-linearization-based control law that accounts for supply pressure changes. Simulation results indicate that standard feedback-linearization based control is robust to EHSS parameter variations, providing significant improvement over PID control, and that the performance can be further improved using the proposed control law.

Published in:

Control Systems Technology, IEEE Transactions on  (Volume:20 ,  Issue: 4 )