TY - GEN
T1 - A near input-output linearizing force tracking controller for an electrohydraulic actuator
AU - Ayalew, Beshahwired
AU - Kulakowski, Bohdan T.
AU - Jablokow, Kathryn W.
PY - 2005
Y1 - 2005
N2 - 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.
AB - 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.
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M3 - Conference contribution
AN - SCOPUS:33645686659
SN - 0791842169
SN - 9780791842164
T3 - American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC
SP - 779
EP - 788
BT - Proceedings of the ASME Dynamic Systems and Control Division 2005
T2 - 2005 ASME International Mechanical Engineering Congress and Exposition, IMECE 2005
Y2 - 5 November 2005 through 11 November 2005
ER -