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Precise position control of an electro-hydraulic servo system via robust linear approximation.

M Fallahi1, M Zareinejad2, K Baghestan1

  • 1Department of Mechanical Engineering, Amirkabir University of Technology, Tehran, Iran.

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|June 13, 2018
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Summary

This study introduces a new method to linearize electro-hydraulic servo systems for precise position control. The approach minimizes errors and enhances controller performance, validated by simulations and experiments.

Keywords:
Electro hydraulicLinearizationOverall Convex Mapping(OCM)Polytopic uncertainty

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Area of Science:

  • Control Systems Engineering
  • Nonlinear Dynamics
  • Robotics

Background:

  • Electro-hydraulic servo systems (EHSS) exhibit significant nonlinearity, complicating accurate modeling for control.
  • Linearization of nonlinear systems, while common, introduces uncertainties that can degrade control performance.

Purpose of the Study:

  • To develop a robust linearization method for electro-hydraulic servo systems (EHSS) for position control.
  • To synthesize an output-feedback H∞ controller using the derived linear model.
  • To reduce conservatism and improve the accuracy of the linearized system model.

Main Methods:

  • Investigated multiple linearization uncertainty methods, including bound-based and graphical polytope extraction.
  • Proposed a novel, less conservative procedure for extracting linear models from nonlinear EHSS.
  • Employed Linear Matrix Inequality (LMI) techniques for synthesizing an output-feedback H∞ controller.

Main Results:

  • The proposed linearization procedure effectively reduces model uncertainty and conservativeness.
  • The synthesized H∞ controller demonstrated optimal performance in simulations and experiments.
  • The system achieved fast position control without any overshoot, validating the method's efficacy.

Conclusions:

  • The novel linearization technique provides a more accurate and less conservative model for electro-hydraulic servo systems.
  • The LMI-based H∞ controller design ensures robust and efficient position control.
  • The study successfully bridges the gap between nonlinear system complexity and linear control design for EHSS.