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초록
We present a high gain observer-based nonlinear position control for electro-hydraulic servo systems. We design passivity based control for improve tracking performance. The passivity based control needs the full states information. Since the electro-hydraulic servo system has nonlinearities, we designed a modified high gain observer to estimate its states without the transformation for normal form. To reduce the effect of nonlinear terms, we use a high gain technique. We analyze the stability of the closed-loop system using the singular perturbation method. Simulations show that the proposed controller has better position tracking performance than a standard PI controller.
키워드
Electro hydraulic servo system; High gain; High-gain observers; Non-Linearity; Nonlinear terms; Normal form; Passivity based control; PI Controller; Position tracking; Singular perturbation method; Tracking performance; Controllers; Hydraulic servomechanisms; Hydraulics; Passivation; Perturbation techniques; Position control
- 제목
- High gain observer based nonlinear position control for electro-hydraulic servo systems
- 저자
- Kim, Wonhee; Won, Daehee; Chung, Chung Choo
- 발행일
- 2010-07
- 유형
- Conference Paper
- 저널명
- Proceedings of the 2010 American Control Conference, ACC 2010
- 페이지
- 1440 ~ 1446