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DINAME2019
DINAME2019
Trajectory Tracking Control Applied to an Electro-Hydraulic Actuator With Uncertain Parameters.
Submission Author:
Josiel Gouvêa , RJ
Co-Authors:
Josiel Gouvêa, Carlos Alberto Correia, Alessandro Zachi, Wallace Moreira Bessa
Presenter: Josiel Gouvêa
doi://10.26678/ABCM.DINAME2019.DIN2019-0106
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
Electro-hydraulic actuator, Uncertain systems, robust control, ADRC method
