Robust H positional control of 2-DOF robotic arm driven by electro-hydraulic servo system

Qing Guo, Tian Yu, Dan Jiang

Research output: Contribution to journalArticle

47 Citations (Scopus)

Abstract

In this paper an positional feedback controller is developed to improve the robust performance under structural and parametric uncertainty disturbance in electro-hydraulic servo system (EHSS). The robust control model is described as the linear state-space equation by upper linear fractional transformation. According to the solution of sub-optimal control problem, the robust controller is designed and simplified to lower order linear model which is easily realized in EHSS. The simulation and experimental results can validate the robustness of this proposed method. The comparison result with PI control shows that the robust controller is suitable for this EHSS under the critical condition where the desired system bandwidth is higher and the external load of the hydraulic actuator is closed to its limited capability.

Original languageEnglish
Pages (from-to)55-64
Number of pages10
JournalISA Transactions
Volume59
DOIs
Publication statusPublished - 1 Nov 2015

Keywords

  • 2-DOF robotic arm
  • Electro-hydraulic servo system
  • Robust control
  • Structural and parametric uncertainty

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