Eventos Anais de eventos
COBEM 2017
24th ABCM International Congress of Mechanical Engineering
ROBUST OUTPUT FEEDBACK CONTROL OF AN ELECTRO-HYDRAULIC ACTUATOR WITH UNCERTAIN PARAMETERS
Submission Author:
Alessandro Zachi , RJ
Co-Authors:
Carlos Alberto Correia, Josiel Gouvêa, Wallace Moreira Bessa, Alessandro Zachi
Presenter: Alessandro Zachi
doi://10.26678/ABCM.COBEM2017.COB17-2622
Abstract
Electro-hydraulic servo-systems are widely employed in industrial applications such as robotic manipulators, active suspensions, precision machine tools, and aerospace systems. They provide many advantages over electric motors, including high force to weight ratio, fast response time, and compact size. One major difficult in that precise control of electro-hydraulic systems cannot be easily obtained with conventional linear controllers, because of intrinsic nonlinearities. This work describes the development of an output feedback controller for an electro-hydraulic system that compensates the effects of nonlinearities and uncertain parameters. Numerical results are presented in order to demonstrate the control system performance.
Keywords
robust control, ADRC, Electro-hydraulic actuator, Uncertain Parameters
