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Robust Hinfinity position control synthesis of an electro-hydraulic servo system
Vladimir Milić1, Zeljko Situm, Mario Essert
1Department of Robotics and Automation of Manufacturing Systems, Faculty of Mechanical Engineering and Naval Architecture, University of Zagreb, Zagreb HR-10000, Croatia. vladimir.milic@fsb.hr
ISA Transactions
|July 27, 2010
Summary
This study introduces robust H-infinity position control for electro-hydraulic systems using linear matrix inequalities. The developed controller and observer ensure precise control despite system uncertainties, validated by experiments.
Area of Science:
- Control Engineering
- Robotics
- Hydraulic Systems
Background:
- Electro-hydraulic servo systems are crucial in automation but susceptible to performance degradation due to parameter uncertainties.
- Robust control strategies are essential to maintain desired performance and stability in the presence of these variations.
Purpose of the Study:
- To synthesize a robust H-infinity position controller for an electro-hydraulic servo system.
- To address structured parametric uncertainties in the system's dynamic model.
- To design an observer for estimating internal system states.
Main Methods:
- Development of a nonlinear dynamic model for a hydraulic cylindrical actuator with a proportional valve.
- Derivation of an uncertain linearized mathematical model for feedback control.
- Design of an H-infinity controller incorporating integral action.
- Implementation of an observer for state estimation.
Main Results:
- A robust H-infinity controller with integral action was designed for the electro-hydraulic servo system.
- An observer was successfully designed to estimate the system's internal states.
- The developed control algorithms demonstrated effective performance in experimental tests.
Conclusions:
- Linear matrix inequality-based techniques are effective for robust H-infinity control synthesis in electro-hydraulic systems.
- The proposed controller and observer ensure reliable position control despite parametric uncertainties.
- Experimental validation confirms the practical applicability of the developed control strategy.
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