This paper presents the design and the experimental evaluation of a tracking control for a hydraulic actuation system in the presence of significant nonlinearities. The adopted control approach consists of a feedforward and a feedback term. The feedforward action is obtained from the known system dynamics and the feedback one is developed starting from the state-dependent Riccati equation (SDRE). The tracking performance of the presented control is demonstrated by means of both simulations and real-time experiments, solving the algebraic Riccati equation at each time step.
A SDRE-based tracking control for a hydraulic actuation system / Strano, Salvatore; Terzo, Mario. - In: MECHANICAL SYSTEMS AND SIGNAL PROCESSING. - ISSN 0888-3270. - 60-61:(2015), pp. 715-726. [10.1016/j.ymssp.2015.01.027]
A SDRE-based tracking control for a hydraulic actuation system
STRANO, salvatore;TERZO, MARIO
2015
Abstract
This paper presents the design and the experimental evaluation of a tracking control for a hydraulic actuation system in the presence of significant nonlinearities. The adopted control approach consists of a feedforward and a feedback term. The feedforward action is obtained from the known system dynamics and the feedback one is developed starting from the state-dependent Riccati equation (SDRE). The tracking performance of the presented control is demonstrated by means of both simulations and real-time experiments, solving the algebraic Riccati equation at each time step.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
