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TECHNICAL PAPERS

Dynamic Feedback Linearization for Electrohydraulically Actuated Control Systems

[+] Author and Article Information
Gholamreza Vossoughi, Max Donath

Department of Mechanical Engineering and the Center for Advanced Manufacturing, Design and Control (CAMDAC), University of Minnesota, Minneapolis, MN 55455

J. Dyn. Sys., Meas., Control 117(4), 468-477 (Dec 01, 1995) (10 pages) doi:10.1115/1.2801102 History: Received September 30, 1992; Revised June 15, 1994; Online December 03, 2007

Abstract

Using the dynamic inversion principal, a globally linearizing feedback control law is developed for an electrohydraulic servo system. The proposed control law is implemented on a rotational joint driven by a linear actuator. The results from experiments indicate that better uniformity of response is achieved across a wider range of operating conditions than would otherwise be possible. Improved symmetry is obtained for the extension and retraction phases of motion for an asymmetric actuator under various loading conditions and actuator positions. As a result of the improvements in linearity, significantly better performance is achieved when using linear controllers. To incorporate the effects of parametric uncertainties on the feedback linearization, a state space linear fractional representation of the parametrically uncertain linearized system is also developed. This uncertainty model is specifically suited for the design of robust control systems using the μ-synthesis and H∞ based approach.

Copyright © 1995 by The American Society of Mechanical Engineers
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