DESIGN AND EXPERIMENTAL EVALUATION OF POSITION CONTROLLERS FOR HYDRAULIC ACTUATORS: BACKSTEPPING AND LQR-2DOF CONTROLLERS

Authors

  • Ana Lúcia Driemeyer Franco Federal University of Santa Catarina (UFSC), DAS/CTC, Florianópolis, 88040-900 SC, Brazil
  • Edson Roberto De Pieri Federal University of Santa Catarina (UFSC), DAS/CTC, Florianópolis, 88040-900 SC, Brazil
  • Eugênio Bona Castelan Federal University of Santa Catarina (UFSC), DAS/CTC, Florianópolis, 88040-900 SC, Brazil
  • Raul Guenther Federal University of Santa Catarina (UFSC), EMC/CTC, Florianópolis, 88040-900 SC, Brazil
  • Antônio Carlos Valdiero Federal University of Santa Catarina (UFSC), EMC/CTC, Florianópolis, 88040-900 SC, Brazil

Keywords:

hydraulic actuators, nonlinear control, Lyapunov based design, backstepping, linear control, 2DOF control design, robustness, disturbance rejection

Abstract

In this paper the problem of experimental control of hydraulic actuators is considered. To deal with mechanical and hydraulic uncertainties two different controllers are synthesized: a backstepping controller and a LQR-2DOF controller. Experimental results of both implementations are analyzed in the context of practical difficulties, mainly the measurement of acceleration. These results illustrate the main features of these controllers when applied on a hydraulic actuator.

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Author Biographies

Ana Lúcia Driemeyer Franco, Federal University of Santa Catarina (UFSC), DAS/CTC, Florianópolis, 88040-900 SC, Brazil

Ana Lúcia Driemeyer Franco Was born in Porto Alegre, Brazil, in 1977. She received the Automation and Control Engineering degree, in 2000, and the M.Sc. degree in Electrical Engineering, in 2002, both from UFSC, Brazil. At the moment, she is pursuing Doctoral degrees from EDSP/ENS/Cachan, France, and UFSC, Brazil, in a co-tutorship agreement.

Edson Roberto De Pieri, Federal University of Santa Catarina (UFSC), DAS/CTC, Florianópolis, 88040-900 SC, Brazil

Edson Roberto De Pieri Was born in Mogi Mirim, Brazil, in 1960. He received the Mathematics degree, in 1982, and the M.Sc. degree in Electrical Engineering, in 1987, both from UNICAMP, Brazil. In 1991, he received the D.Sc. degree from the Pierre et Marie Curie University, France. Since 1992, he is professor at the Department of Automation and Systems at UFSC.

Eugênio Bona Castelan, Federal University of Santa Catarina (UFSC), DAS/CTC, Florianópolis, 88040-900 SC, Brazil

Eugênio Bona Castelan Was born in Criciúma, Brazil. He received the Electrical Engineering degree, in 1982, and the M.Sc. degree, in 1985, both from UFSC, Brazil, and the Doctoral degree from Paul Sabatier University, France, in 1992. In 1993, he joined the Department of Automation and Systems at UFSC, where he develops his teaching and research activities.

Raul Guenther, Federal University of Santa Catarina (UFSC), EMC/CTC, Florianópolis, 88040-900 SC, Brazil

Raul Guenther Was born in Joinville, Brazil, in 1953. He received the Mechanical Engineering degree, in 1976, from UFSC, Brazil, and the D.Sc. in Mechanical Engineering, in 1993, from UFRJ, Brazil. Since 1977, he is professor at the Department of Mechanical Engineering at UFSC. At the moment, he is the head of the Robotics Laboratory.

Antônio Carlos Valdiero, Federal University of Santa Catarina (UFSC), EMC/CTC, Florianópolis, 88040-900 SC, Brazil

Antonio Carlos Valdiero Was born in Volta Redonda, Brazil, in 1969. He received the Mechanical Engineering degree, in 1992, from UFRJ, Brazil, and the M.Sc. Degree, in 1994, from UFSC, Brazil. At the moment, he is pursuing a Doctoral degree in Mechanical Engineering from UFSC. Since 1994, he is professor at the Technology Department at UNIJUÍ, Brazil.

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Published

2004-11-01

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