In this paper, a robust fixed-gain linear output pressure controller is designed for a double-rod electrohydrostatic actuator using quantitative feedback theory (QFT). First, the family of frequency responses of the system is identified by applying an advanced form of fast Fourier transform on the open-loop input–output experimental data. This approach results in realistic frequency responses of the system, which prevents the generation of unnecessary large QFT templates, and consequently contributes to the design of a low-order QFT controller. The designed controller provides desired transient responses, desired tracking bandwidth, robust stability, and disturbance rejection for the closed-loop system. Experimental results confirm the desired performance met by the QFT controller. Then, the nonlinear stability of the closed-loop system is analyzed considering the friction and leakage, and in the presence of parametric uncertainties. For this analysis, Takagi–Sugeno (T–S) fuzzy modeling and its stability theory are employed. The T–S fuzzy model is derived for the closed-loop system and the stability conditions are presented as linear matrix inequalities (LMIs). LMIs are found feasible and thus the stability of the closed-loop system is proven for a wide range of parametric uncertainties and in the presence of friction and leakages.
Controller Design and Stability Analysis of Output Pressure Regulation in Electrohydrostatic Actuators
University of Manitoba,
75A Chancellors Circle,
Winnipeg, MB R3T 5V6, Canada
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT,AND CONTROL. Manuscript received September 18, 2017; final manuscript received November 10, 2018; published online December 19, 2018. Assoc. Editor: Zongxuan Sun.
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Esfandiari, M., and Sepehri, N. (December 19, 2018). "Controller Design and Stability Analysis of Output Pressure Regulation in Electrohydrostatic Actuators." ASME. J. Dyn. Sys., Meas., Control. April 2019; 141(4): 041008. https://doi.org/10.1115/1.4042028
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