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Immersion and invariance‐based impedance control for electrohydraulic systems
Author(s) -
Kemmetmüller W.,
Kugi A.
Publication year - 2009
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.1462
Subject(s) - immersion (mathematics) , control theory (sociology) , inefficiency , impedance control , electrical impedance , controller (irrigation) , control engineering , computer science , engineering , control (management) , mathematics , artificial intelligence , agronomy , pure mathematics , electrical engineering , economics , biology , microeconomics
Abstract This work deals with the impedance control of electrohydraulic systems based on the concept of immersion and invariance. In the first step, the impedance control task for a basic electrohydraulic system comprising a hydraulic cylinder and a 4/3 proportional valve is analyzed. In order to mitigate the problem of energetic inefficiency and the high demands on the dynamics of the valve, an extended electrohdydraulic system is proposed. By means of a suitable choice of the parameters and an immersion and invariance‐based controller strategy, a significant reduction of both energy consumption and required dynamics of the valve can be obtained. The feasibility of the proposed impedance control strategies is demonstrated by extensive simulation studies. Copyright © 2009 John Wiley & Sons, Ltd.