Simulation and Experimental Studies on Perfect Tracking Optimal Control of an Electrohydraulic Actuator System

Autor: R. Ghazali, Y. M. Sam, M. F. Rahmat, Zulfatman, A. W. I. M. Hashim
Jazyk: angličtina
Rok vydání: 2012
Předmět:
Zdroj: Journal of Control Science and Engineering, Vol 2012 (2012)
Druh dokumentu: article
ISSN: 1687-5249
1687-5257
DOI: 10.1155/2012/670635
Popis: This paper presents a perfect tracking optimal control for discrete-time nonminimum phase of electrohydraulic actuator (EHA) system by adopting a combination of feedback and feedforward controller. A linear-quadratic regulator (LQR) is firstly designed as a feedback controller, and a feedforward controller is then proposed to eliminate the phase error emerged by the LQR controller during the tracking control. The feedforward controller is developed by implementing the zero phase error tracking control (ZPETC) technique in which the main difficulty arises from the nonminimum phase system with no stable inverse. Subsequently, the proposed controller is performed in simulation and experimental studies where the EHA system is represented in discrete-time model that has been obtained using system identification technique. It also shows that the controller offers better performance as compared to conventional PID controller in reducing phase and gain error that typically occurred in positioning or tracking systems.
Databáze: Directory of Open Access Journals
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