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Robust Stability and Performance Investigation of Electrohydraulic Steering Control System

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Part of the Lecture Notes of the Institute for Computer Sciences, Social Informatics and Telecommunications Engineering book series (LNICST,volume 382)

Abstract

The article introduces a robust stability and robust performance investigation of two embedded systems for control of electrohydraulic power steering in mobile machinery . They are based on advanced control techniques - linear-quadratic Gaussian (LQG) controller and H-infinity controller . The synthesis of the two controllers is performed via experimentally estimated SIMO state space model. The 30% input multiplicative uncertainty is introduced in estimated model. In this manner, a dead-band of proportional spool valve position is taken into account. This dead-band is constructively implemented to provide safety requirements of electrohydraulic steering. The robust stability and robust performance analysis are done by determining a structured singular value (μ) of the both closed-loop control systems, which are represented in M-Δ structure. The workability of the both systems are verified through simulation and real world experiments on laboratory test rig.

Keywords

  • Robust stability
  • Robust performance
  • LQG
  • H
  • Electrohydraulic system

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Acknowledgements

The authors would like to thank the Research and Development Sector at the Technical University of Sofia for the financial support.

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Correspondence to Alexander Mitov .

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Mitov, A., Slavov, T., Kralev, J., Angelov, I. (2021). Robust Stability and Performance Investigation of Electrohydraulic Steering Control System. In: Perakovic, D., Knapcikova, L. (eds) Future Access Enablers for Ubiquitous and Intelligent Infrastructures. FABULOUS 2021. Lecture Notes of the Institute for Computer Sciences, Social Informatics and Telecommunications Engineering, vol 382. Springer, Cham. https://doi.org/10.1007/978-3-030-78459-1_29

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  • DOI: https://doi.org/10.1007/978-3-030-78459-1_29

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