F. Basile, P. Chiacchio, and D. Del Grosso
Hydraulic actuators, nonlinear systems, nonlinear control system, sliding mode control.
Hydraulic actuators have nonlinear dynamics and are often used in environments (robotic, aerospace, underwater explorations/inspections, mining) where uncertain disturbances are present. Linear controllers designed using a linearized model of the hydraulic system are widespread. In alternative, nonlinear and robust control techniques can be used to achieve better performances. Among these techniques, sliding mode control with dynamics inversion is a good choice, but it usually requires measurements of actuator’s velocity and hydraulic pressures in addition to actuator’s position. This paper presents the design and experimental evaluation of a position controller for an hydraulic actuator where the only available measure is the actuator’s position. A detailed description of servosystem components is firstly presented. Then a linear control law, whose design is based on a linearized model of the actuator, is designed and tested. Finally, a sliding mode control law is developed. Experimental results, carried out on a real case study, have shown the effectiveness of the proposed controllers even when only actuator’s position is available for feedback.
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