Implicit Non-Linear Robust Control for an Electrohydraulic System with Uncertainties

This paper deals with tracking the position of a linear cylinder moving a mass and controlled by a servovalve. The model of this system is non-linear with respect to state and input and has bounded uncertainties. Uncertainties are considered about the leakage flowrate of the servovalve and about the...

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Bibliographic Details
Published in:Proceedings of the Institution of Mechanical Engineers. Part I, Journal of systems and control engineering Journal of systems and control engineering, 1996-01, Vol.210 (2), p.103-111
Main Authors: Quintas, M R, Richard, E, Scavarda, S
Format: Article
Language:English
Subjects:
Computer simulation
Cylinder liners
Experiments
Flow of fluids
Hydraulic control
Linear control
Manipulators
Mechanical engineering
Nonlinear analysis
Nonlinear control
Nonlinear control systems
Robust control
Robustness (control systems)
Servocontrol
Simulation
Tracking
Tracking (position)
Uncertainty
Valves (mechanical)
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Description
Summary:This paper deals with tracking the position of a linear cylinder moving a mass and controlled by a servovalve. The model of this system is non-linear with respect to state and input and has bounded uncertainties. Uncertainties are considered about the leakage flowrate of the servovalve and about the mass in movement. An implicit non-linear control with a robust term designed by the Corless-Leitmann approach is described step by step. Simulation results are shown in order to point out the advantages of this approach.
ISSN:0959-6518
2041-3041
DOI:10.1243/PIME_PROC_1996_210_443_02