Robust Arbitrary Reference Command Tracking with Application to Hydraulic Actuators

M. G. Skarpetis, F. N. Koumboulis, A. S. Ntellis

Abstract

In this paper a robust tracking controller is proposed in order to track arbitrary reference signals in the presence of same type disturbance signals. The robust tracking controller is based on the well known Internal Model Principle appropriately modified with a Hurwitz invariability technique. The controller parameters are computed using a finite step algorithm. Solvability conditions are derived. The proposed controller is successfully applied to a hydraulic actuator uncertain model including uncertain parameters arising from changes of the operating conditions and other physical reasons. Simulation results for all the expected range of the actuator model uncertainties are presented indicating the satisfactory performance of the robust controller in the presence of external disturbances.

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Paper Citation


in Harvard Style

G. Skarpetis M., N. Koumboulis F. and S. Ntellis A. (2012). Robust Arbitrary Reference Command Tracking with Application to Hydraulic Actuators . In Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-8565-21-1, pages 94-102. DOI: 10.5220/0004048600940102


in Bibtex Style

@conference{icinco12,
author={M. G. Skarpetis and F. N. Koumboulis and A. S. Ntellis},
title={Robust Arbitrary Reference Command Tracking with Application to Hydraulic Actuators},
booktitle={Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2012},
pages={94-102},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004048600940102},
isbn={978-989-8565-21-1},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Robust Arbitrary Reference Command Tracking with Application to Hydraulic Actuators
SN - 978-989-8565-21-1
AU - G. Skarpetis M.
AU - N. Koumboulis F.
AU - S. Ntellis A.
PY - 2012
SP - 94
EP - 102
DO - 10.5220/0004048600940102