Flatness-Based Nonlinear Control for Position Tracking of Electrohydraulic Systems

In this paper, a flatness-based nonlinear controller is proposed to improve the position-tracking performance and to reduce the current input ripple in electrohydraulic systems (EHSs). The proposed method consists of feedforward control using a flatness concept and feedback control to yield a stable control system. This paper presents an analysis on the problem of tracking a reference position, conditions for open-loop stability, as well as an analysis on the flatness of EHS. These results are used for a nonlinear feedforward control design. To further improve the position-tracking performance, feedforward control is augmented with a nonlinear feedback control, which is designed based on the flatness property of EHSs. Moreover, the state variable derivatives are not used so that the measurement noise and structural vibration are not amplified, which in turn can increase the machinery's life expectancy because the current inputs' ripples are reduced.

[1]  Florian Kock,et al.  Flatness-based High Frequency Control of a Hydraulic Actuator , 2012 .

[2]  Septimiu E. Salcudean,et al.  On the nonlinear control of hydraulic servo-systems , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[3]  M. Saad,et al.  Indirect Adaptive Control of an Electrohydraulic Servo System Based on Nonlinear Backstepping , 2006, IEEE/ASME Transactions on Mechatronics.

[4]  M. Saad,et al.  Identification and Real-Time Control of an Electrohydraulic Servo System Based on Nonlinear Backstepping , 2007, IEEE/ASME Transactions on Mechatronics.

[5]  Chung Choo Chung,et al.  Disturbance-Observer-Based Position Tracking Controller in the Presence of Biased Sinusoidal Disturbance for Electrohydraulic Actuators , 2013, IEEE Transactions on Control Systems Technology.

[6]  Cheng Guan,et al.  Adaptive sliding mode control of electro-hydraulic system with nonlinear unknown parameters , 2008 .

[7]  S. Shankar Sastry,et al.  Differential flatness based full authority helicopter control design , 1999, Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304).

[8]  Rui Liu,et al.  A simplified approach to force control for electro-hydraulic systems☆ , 2000 .

[9]  Bruce H. Wilson,et al.  Improved Tracking Control of Hydraulic Systems , 2001 .

[10]  J. A. Castellanos,et al.  Flatness-Based Active Vibration Control for Piezoelectric Actuators , 2013, IEEE/ASME Transactions on Mechatronics.

[11]  Nariman Sepehri,et al.  Tracking Control of Hydraulic Actuators Using a LuGre Friction Model Compensation , 2008 .

[12]  M. Fliess,et al.  Flatness and defect of non-linear systems: introductory theory and examples , 1995 .

[13]  H. Hahn,et al.  Input/output linearization control of an electro servo-hydraulic actuator , 1994, 1994 Proceedings of IEEE International Conference on Control and Applications.

[14]  R. Rajamani,et al.  A systematic approach to adaptive observer synthesis for nonlinear systems , 1997, IEEE Trans. Autom. Control..

[15]  R. Marino,et al.  Adaptive observers with arbitrary exponential rate of convergence for nonlinear systems , 1995, IEEE Trans. Autom. Control..

[16]  W. Book,et al.  Application of Singular Perturbation Theory to Hydraulic Pump Controlled Systems , 2012, IEEE/ASME Transactions on Mechatronics.

[17]  Tzuen-Lih Chen,et al.  An optimal variable structure control with integral compensation for electrohydraulic position servo control systems , 1992, IEEE Trans. Ind. Electron..

[18]  Jouni Mattila,et al.  The automation of multi degree of freedom hydraulic crane by using Virtual Decomposition Control , 2013, 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics.

[19]  C.-S. Kim,et al.  Speed control of an overcentered variable-displacement hydraulic motor with a load-torque observer , 1996 .

[20]  Ravinder Venugopal,et al.  Feedback linearization based control of a rotational hydraulic drive , 2007 .

[21]  H. Sira-Ramirez,et al.  The control of the hovercraft system: a flatness based approach , 2000, Proceedings of the 2000. IEEE International Conference on Control Applications. Conference Proceedings (Cat. No.00CH37162).

[22]  Masayoshi Tomizuka,et al.  Robust adaptive and repetitive digital tracking control and application to a hydraulic servo for noncircular machining , 1994 .

[23]  Cheng Guan,et al.  Nonlinear Adaptive Robust Control of Single-Rod Electro-Hydraulic Actuator With Unknown Nonlinear Parameters , 2008, IEEE Transactions on Control Systems Technology.

[24]  Serge Pierfederici,et al.  Flatness-Based Control of Three-Phase Inverter With Output $LC$ Filter , 2012, IEEE Transactions on Industrial Electronics.

[25]  C. Chung,et al.  Output feedback nonlinear control for electro-hydraulic systems , 2012 .

[26]  George T.-C. Chiu,et al.  Adaptive robust motion control of single-rod hydraulic actuators: Theory and experiments , 1999, Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251).

[27]  Andrew G. Alleyne,et al.  Nonlinear adaptive control of active suspensions , 1995, IEEE Trans. Control. Syst. Technol..

[28]  Francis J. Doyle,et al.  Differential flatness based nonlinear predictive control of fed-batch bioreactors , 2001 .

[29]  Takao Nishiumi,et al.  Hydraulic Control Systems: Theory And Practice , 2016 .