Nonlinear Position Control Using Differential Flatness Concept with Load Torque Observer for Electro Hydraulic Actuators with Sinusoidal Load Torque

Sangmin Suh and Wonhee Kim
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Sangmin Suh: Department of Information and Telecommunication Engineering, Gangneung-Wonju National University, Wonju-si 26403, Korea
Wonhee Kim: School of Energy Systems Engineering, Chung-Ang University, Seoul 06974, Korea

Mathematics, 2020, vol. 8, issue 9, 1-11

Abstract: We propose a nonlinear position control using a differential flatness concept with a load torque observer to compensate for the sinusoidal load torque in electro-hydraulic actuators (EHAs) EHAs. In an EHA with a rotational joint, the load torque is a sinusoidal disturbance, whose magnitude can be estimated via a load torque observer. In the proposed load torque observer, the load torque can be estimated without requiring its maximum frequency to be known. The position controller tracks position and comprises an inner-loop load pressure controller and an outer-loop position controller. The former tracks the desired pressure via near input–output linearization. The desired pressure is developed using the differential flatness of the mechanical system in the EHA. The feedback plus feedforward outer-loop position controller is designed to track the desired position and to compensate for the load torque. The stability of the closed-loop system is mathematically proven using the input-to-state stability property.

Keywords: electro hydraulic actuator; load torque observer; position tracking (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2020
References: View complete reference list from CitEc
Citations: View citations in EconPapers (1)

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