Point-to-point trajectory tracking with two-degree-of-freedom robust control for a non-minimum phase electro-hydraulic system
Electro-hydraulic actuator (EHA) system inherently suffers from uncertainties, nonlinearities and timevarying in its model parameters which makes the modeling and controller designs are more complicated. The main objective of this paper is to perform a robust control design using discretetime slidin...
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| Main Authors: | , , , |
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| Format: | Conference or Workshop Item |
| Published: |
2012
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| Subjects: | |
| Online Access: | http://eprints.uthm.edu.my/6134/ http://eprints.uthm.edu.my/6134/1/point%2Dto%2Dpoint_trajectory_tracking.pdf |
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| Summary: | Electro-hydraulic actuator (EHA) system
inherently suffers from uncertainties, nonlinearities and timevarying
in its model parameters which makes the modeling and
controller designs are more complicated. The main objective of
this paper is to perform a robust control design using discretetime
sliding mode control (DSMC) with two-degree-of-freedom
(2-DOF) control strategy. The proposed controller consists of
feedback and feedforward combination which capable to reduce
phase lag and steady state error during the trajectory tracking of
EHA system. The feedforward controller is developed by
implementing the zero phase error tracking control (ZPETC)
technique which the main difficulty arises from the nonminimum
phase system with no stable inverse. A point-to-point trajectory is
used in the experimental works to evaluate the performance of
the DSMC. Experimental results reveal that the DMSC with 2-
DOF control structure is highly robust and capable to deal with
the uncertainties and disturbances occur during the position
tracking control for different point of trajectories. It is also shows
that the proposed controller can achieve better tracking
performance as compared to conventional LQR and PID
controller. |
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