A near input-output linearizing force tracking controller for an electrohydraulic actuator

Beshahwired Ayalew, Bohdan T. Kulakowski, Kathryn W. Jablokow

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Scopus citations

Abstract

Under simple practical assumptions, the theory of feedback linearization can be applied to a physical model of an electrohydraulic rectilinear actuator. This paper presents the derivation of a near input-output (IO) linearizing force tracking controller and its experimental implementation on a fatigue testing electrohydraulic actuator. Comparisons are conducted against a linear state feedback with integral controller and a standard PID controller. It is shown that, within the limits of investigated system bandwidth and smoothness restrictions of the desired force trajectory, the near IO linearizing controller has better tracking properties. It is also noted that a sliding mode controller can be interpreted as a robust version of the near IO linearizing controller. Experiments are conducted to investigate the robustness of the controlled system to the parameters of the near IO linearizing controller.

Original languageEnglish (US)
Title of host publicationProceedings of the ASME Dynamic Systems and Control Division 2005
Pages779-788
Number of pages10
Edition1 PART A
StatePublished - Dec 1 2005
Event2005 ASME International Mechanical Engineering Congress and Exposition, IMECE 2005 - Orlando, FL, United States
Duration: Nov 5 2005Nov 11 2005

Publication series

NameAmerican Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC
Number1 PART A
Volume74 DSC

Other

Other2005 ASME International Mechanical Engineering Congress and Exposition, IMECE 2005
CountryUnited States
CityOrlando, FL
Period11/5/0511/11/05

All Science Journal Classification (ASJC) codes

  • Mechanical Engineering
  • Software

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    Ayalew, B., Kulakowski, B. T., & Jablokow, K. W. (2005). A near input-output linearizing force tracking controller for an electrohydraulic actuator. In Proceedings of the ASME Dynamic Systems and Control Division 2005 (1 PART A ed., pp. 779-788). (American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC; Vol. 74 DSC, No. 1 PART A).