کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
559234 | 1451864 | 2015 | 12 صفحه PDF | دانلود رایگان |
• A tracking control for a hydraulic actuator with hard nonlinearities is presented.
• The tracking control consists of an SDRE-based feedback action and a feedforward one.
• The feedback gains are obtained solving in real-time the algebraic Riccati equation.
• The controller is implemented with a hand-coded C function for a real-time board.
• The experimental results show the high performances of the proposed approach.
This paper presents the design and the experimental evaluation of a tracking control for a hydraulic actuation system in the presence of significant nonlinearities. The adopted control approach consists of a feedforward and a feedback term. The feedforward action is obtained from the known system dynamics and the feedback one is developed starting from the state-dependent Riccati equation (SDRE).The tracking performance of the presented control is demonstrated by means of both simulations and real-time experiments, solving the algebraic Riccati equation at each time step.
Journal: Mechanical Systems and Signal Processing - Volumes 60–61, August 2015, Pages 715–726