Abstract
The implementation, testing and performance evaluation of a partial feedback linearising force tracking controller on an electrohydraulic actuator is described. The underlying assumptions necessary for the development of the controller are highlighted, and the control law is derived in detail. Performance comparisons are conducted against a linear state feedback with integral controller and a standard PID controller, the latter being the most common industrial solution. Results show that the nonlinear partial feedback linearising controller has improved tracking properties, as might be expected from its use of more modelling and feedback information. Multiple experiments are also conducted to investigate the robustness of the system to certain model parameters; it is shown that the controller tolerates a measurable shift in these parameters.
| Original language | English (US) |
|---|---|
| Pages (from-to) | 689-698 |
| Number of pages | 10 |
| Journal | IET Control Theory and Applications |
| Volume | 1 |
| Issue number | 3 |
| DOIs | |
| State | Published - May 17 2007 |
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All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Human-Computer Interaction
- Computer Science Applications
- Control and Optimization
- Electrical and Electronic Engineering
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Partial feedback linearising force-tracking control : Implementation and testing in electrohydraulic actuation. / Ayalew, B.; Jablokow, Kathryn Weed.
In: IET Control Theory and Applications, Vol. 1, No. 3, 17.05.2007, p. 689-698.Research output: Contribution to journal › Article
TY - JOUR
T1 - Partial feedback linearising force-tracking control
T2 - Implementation and testing in electrohydraulic actuation
AU - Ayalew, B.
AU - Jablokow, Kathryn Weed
PY - 2007/5/17
Y1 - 2007/5/17
N2 - The implementation, testing and performance evaluation of a partial feedback linearising force tracking controller on an electrohydraulic actuator is described. The underlying assumptions necessary for the development of the controller are highlighted, and the control law is derived in detail. Performance comparisons are conducted against a linear state feedback with integral controller and a standard PID controller, the latter being the most common industrial solution. Results show that the nonlinear partial feedback linearising controller has improved tracking properties, as might be expected from its use of more modelling and feedback information. Multiple experiments are also conducted to investigate the robustness of the system to certain model parameters; it is shown that the controller tolerates a measurable shift in these parameters.
AB - The implementation, testing and performance evaluation of a partial feedback linearising force tracking controller on an electrohydraulic actuator is described. The underlying assumptions necessary for the development of the controller are highlighted, and the control law is derived in detail. Performance comparisons are conducted against a linear state feedback with integral controller and a standard PID controller, the latter being the most common industrial solution. Results show that the nonlinear partial feedback linearising controller has improved tracking properties, as might be expected from its use of more modelling and feedback information. Multiple experiments are also conducted to investigate the robustness of the system to certain model parameters; it is shown that the controller tolerates a measurable shift in these parameters.
UR - http://www.scopus.com/inward/record.url?scp=34248336633&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=34248336633&partnerID=8YFLogxK
U2 - 10.1049/iet-cta:20060186
DO - 10.1049/iet-cta:20060186
M3 - Article
VL - 1
SP - 689
EP - 698
JO - IET Control Theory and Applications
JF - IET Control Theory and Applications
SN - 1751-8644
IS - 3
ER -