Robust gain scheduling control of an earthmoving vehicle powertrain

Rong Zhang, Andrew G. Alleyne, Don E. Carter

Research output: Contribution to journalConference articlepeer-review

8 Scopus citations


The inter-load coupling and the nonlinearities make the control of a multivariable electro-hydraulic system a challenging problem, which has a practical significance in applications such as the earthmoving industry. In previous work, the nonlinear powertrain was locally modeled as an LTI MIMO system and a local LTI MIMO controller was designed at each operating point using an ℋ algorithm. In this paper, to cover the entire operating range of the nonlinear system, a gain-scheduled global controller is designed by scheduling different local controllers on the system flow rate and the power demand. A Local Controller Network scheduling strategy is utilized to simplify the closed-loop robust analysis. Different portions of outputs from different local controllers are combined into the total control by using interpolation-weighting functions. To guarantee the stability and the performance, the robustness of the closed-loop global system is analyzed by modeling the dynamics of the scheduling variables as an uncertainty. The design procedure is presented for a multivariable hydraulic control problem; the achieved stability and performance are demonstrated by both analytical and experimental results.

Original languageEnglish (US)
Pages (from-to)4969-4974
Number of pages6
JournalProceedings of the American Control Conference
StatePublished - 2003
Externally publishedYes
Event2003 American Control Conference - Denver, CO, United States
Duration: Jun 4 2003Jun 6 2003


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