Cascaded robust nonlinear position tracking control of an electrohydraulic actuator

Sliding mode and feed forward

Beshahwired Ayalew, Kathryn Weed Jablokow

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

Abstract

An approach to position tracking control based on a cascade of a nonlinear force tracking controller derived from a near input-output linearization framework and a simple feedback plus feed forward position controller is presented. The method exploits the cascade structure to employ a sliding mode pressure force tracking controller as inner-loop and the position tracking controller as an outer-loop. Furthermore, it is highlighted that Lyapunov backstepping analysis can be used to drive performance bounds and reveal trade-offs between the size of uncertainty and measurement errors and the tracking accuracy. The performance of the proposed cascaded robust controller is demonstrated with experiments and simulations on a test system that doesn't necessarily satisfy all of the assumptions made for controller derivation. In particular, a typical comparison of the robust and nominal cascade controllers shows the robust version can recover the performance of the nominal near IO linearizing controller. In addition, model simulation results are included to show the performance of the controller in the presence of some combinations of perturbations or difficult to estimate parameters such as valve coefficient, supply pressure, piston friction, and inclusion of servovalve spool dynamics.

Original languageEnglish (US)
Title of host publicationProceedings of 2006 ASME International Mechanical Engineering Congress and Exposition, IMECE2006 - Fluid Power Systems and Technology Division
PublisherAmerican Society of Mechanical Engineers (ASME)
ISBN (Print)0791837904, 9780791837900
DOIs
StatePublished - Jan 1 2006
Event2006 ASME International Mechanical Engineering Congress and Exposition, IMECE2006 - Chicago, IL, United States
Duration: Nov 5 2006Nov 10 2006

Other

Other2006 ASME International Mechanical Engineering Congress and Exposition, IMECE2006
CountryUnited States
CityChicago, IL
Period11/5/0611/10/06

Fingerprint

Actuators
Controllers
Reels
Backstepping
Measurement errors
Linearization
Pistons
Friction
Feedback
Experiments

All Science Journal Classification (ASJC) codes

  • Mechanical Engineering
  • Fluid Flow and Transfer Processes

Cite this

Ayalew, B., & Jablokow, K. W. (2006). Cascaded robust nonlinear position tracking control of an electrohydraulic actuator: Sliding mode and feed forward. In Proceedings of 2006 ASME International Mechanical Engineering Congress and Exposition, IMECE2006 - Fluid Power Systems and Technology Division American Society of Mechanical Engineers (ASME). https://doi.org/10.1115/IMECE2006-13943
Ayalew, Beshahwired ; Jablokow, Kathryn Weed. / Cascaded robust nonlinear position tracking control of an electrohydraulic actuator : Sliding mode and feed forward. Proceedings of 2006 ASME International Mechanical Engineering Congress and Exposition, IMECE2006 - Fluid Power Systems and Technology Division. American Society of Mechanical Engineers (ASME), 2006.
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Ayalew, B & Jablokow, KW 2006, Cascaded robust nonlinear position tracking control of an electrohydraulic actuator: Sliding mode and feed forward. in Proceedings of 2006 ASME International Mechanical Engineering Congress and Exposition, IMECE2006 - Fluid Power Systems and Technology Division. American Society of Mechanical Engineers (ASME), 2006 ASME International Mechanical Engineering Congress and Exposition, IMECE2006, Chicago, IL, United States, 11/5/06. https://doi.org/10.1115/IMECE2006-13943

Cascaded robust nonlinear position tracking control of an electrohydraulic actuator : Sliding mode and feed forward. / Ayalew, Beshahwired; Jablokow, Kathryn Weed.

Proceedings of 2006 ASME International Mechanical Engineering Congress and Exposition, IMECE2006 - Fluid Power Systems and Technology Division. American Society of Mechanical Engineers (ASME), 2006.

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

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Ayalew B, Jablokow KW. Cascaded robust nonlinear position tracking control of an electrohydraulic actuator: Sliding mode and feed forward. In Proceedings of 2006 ASME International Mechanical Engineering Congress and Exposition, IMECE2006 - Fluid Power Systems and Technology Division. American Society of Mechanical Engineers (ASME). 2006 https://doi.org/10.1115/IMECE2006-13943