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Authors: M. G. Skarpetis ; F. N. Koumboulis and A. S. Ntellis

Affiliation: Halkis Institute of Technology, Greece

Keyword(s): Robust Control, Arbitrary Reference Command Tracking, Hydraulic Actuator.

Related Ontology Subjects/Areas/Topics: Control and Supervision Systems ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Mechanical Sensors ; Optimization Algorithms ; Robotics and Automation ; Signal Processing, Sensors, Systems Modeling and Control

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 several formats:
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; ISSN 2184-2809, SciTePress, pages 94-102. DOI: 10.5220/0004048600940102

@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},
issn={2184-2809},
}

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
IS - 2184-2809
AU - G. Skarpetis, M.
AU - N. Koumboulis, F.
AU - S. Ntellis, A.
PY - 2012
SP - 94
EP - 102
DO - 10.5220/0004048600940102
PB - SciTePress

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