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TECHNICAL PAPERS

Robust Position Control of an Electrohydraulic Actuator With a Faulty Actuator Piston Seal

[+] Author and Article Information
M. Karpenko, N. Sepehri

Experimental Robotics and Teleoperations Laboratory, Department of Mechanical and Industrial Engineering, The University of Manitoba, Winnipeg, Manitoba, Canada R3T 5V6

J. Dyn. Sys., Meas., Control 125(3), 413-423 (Sep 18, 2003) (11 pages) doi:10.1115/1.1592194 History: Received June 12, 2002; Revised October 31, 2002; Online September 18, 2003
Copyright © 2003 by ASME
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References

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Figures

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Experimental test rig illustrating the environment and components used for creating piston seal leakage
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Schematic of the experimental system
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Typical two degree-of-freedom feedback control system
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Plant templates at various frequencies
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Plant templates for each leakage level at various frequencies
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QFT bounds and nominal loops, Ll(jω,αo), for each leakage level: (a) level 0; (b) level 1; (c) level 2; (d) level 3; (e) level 4
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Frequency responses of the closed-loop systems with prefilters over the uncertain plant sets for each leakage level: (a) level 0; (b) level 1; (c) level 2; (d) level 3; (e) level 4
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Normalized controller activations: SL, small leak; SML, small-medium leak; MLL, medium-large leak; LL, large leak
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Step responses, to a 15 mm square command, corresponding to the local controller for each leakage level
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Leakage flows pertaining to the experiments in Fig. 9
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Control signals pertaining to the experiments in Fig. 9
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Position responses of the normal (no leak) controller for various leakage levels
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Performance of the switching controller for increasing leakage: (a) position response; (b) leakage flow; (c) control signal
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Performance of the normal (no leak) controller for increasing leakage: (a) position response; (b) leakage flow; (c) control signal

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