Dynamic feedback linearization for electrohydraulically actuated control systems

Gholamreza Vossoughi, Max Donath

Research output: Contribution to journalArticlepeer-review

153 Scopus citations

Abstract

Using the dynamic inversion principal, a globally linearizing feedback control law is developed for an electrohydraulic servo system. The proposed control law is implemented on a rotational joint driven by a linear actuator. The results from experiments indicate that better uniformity of response is achieved across a wider range of operating conditions than would otherwise be possible. Improved symmetry is obtained for the extension and retraction phases of motion for an asymmetric actuator under various loading conditions and actuator positions. As a result of the improvements in linearity, significantly better performance is achieved when using linear controllers. To incorporate the effects of parametric uncertainties on the feedback linearization, a state space linear fractional representation of the parametrically uncertain linearized system is also developed. This uncertainty model is specifically suited for the design of robust control systems using the μ-synthesis and H based approach.

Original languageEnglish (US)
Pages (from-to)468-477
Number of pages10
JournalJournal of Dynamic Systems, Measurement and Control, Transactions of the ASME
Volume117
Issue number4
DOIs
StatePublished - Dec 1995

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