Simulation and Experimental Studies on Perfect Tracking Optimal Control of an Electrohydraulic Actuator System

Abstract

This paper presents a perfect tracking optimal control for discrete-time nonminimum phase of electrohydraulic actuator (EHA) system by adopting a combination of feedback and feedforward controller. A linear-quadratic regulator (LQR) is firstly designed as a feedback controller, and a feedforward controller is then proposed to eliminate the phase error emerged by the LQR controller during the tracking control. The feedforward controller is developed by implementing the zero phase error tracking control (ZPETC) technique in which the main difficulty arises from the nonminimum phase system with no stable inverse. Subsequently, the proposed controller is performed in simulation and experimental studies where the EHA system is represented in discrete-time model that has been obtained using system identification technique. It also shows that the controller offers better performance as compared to conventional PID controller in reducing phase and gain error that typically occurred in positioning or tracking systems.

The Effects of Parameter Variation in Open-Loop and Closed-Loop Control Scheme for an Electro-hydraulic Actuator System

“…The displacement of cylinder actuator will be generated by utilizing the servo valve that will regulate the oil flow from the cylinder chamber to the hydraulic cylinder. The spring and damper that are attached to the mass will generate the counter force against cylinder actuator [37].…”

Development and Testing of Electro Hydraulic Wave Energy Simulator

“…Other proposed position control methods such as the use of proportional integral differential control, pole placement technique, feedback linearization method to cancel nonlinearities in the system [11], "modified backstepping control with an iterative learning mechanism to perform adaptive tracking control tasks, and perfect tracking optimal control by adopting a combination of feedback and feedforward controller [12].…”

Optimization of PID for industrial electro-hydraulic actuator using PSOGSA

“…These applications required the highest performance of the electro-hydraulic actuator in term of positioning. The system inherently suffers from uncertainties and nonlinearities due to that many studies have been conducted recently, related to the EHA system problems to surmount thefise issues such as [2,3]. One of the ways was optimizing the system controller performance.…”