Comparison of Robust Stability for Electrohydraulic Steering Control System Based on LQG and H-infinity Controller

Mitov, Alexander; Slavov, Tsonyo; Kralev, Jordan; Angelov, Ilcho

doi:10.1109/tsp.2019.8769034

Cited by 4 publications

(3 citation statements)

References 3 publications

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“…In order to investigate the strengthening of the stability of the closed loop system up to 30%, the uncertainty parameter is entered into matrix B of the model which describes the observed hysteresis of the electrohydraulic actuator. The Hinfinity controller achieves a smaller gain value than the LQG controller in a limited variation in the characteristic model [4].…”

Section: Related Researchmentioning

confidence: 96%

Study of Permanent Magnet Synchronous Motor With LQG Controller and Observer On The Hydraulic Pump System

Setiawan,

Meilani,

Dermawan

et al. 2023

jeeccis

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In today's aircraft industry, the flight control system and landing gear system cannot be separated from the role of the hydraulic technology system. As the prime mover of the hydraulic pump or actuator hydraulic system, a permanent magnet synchronous motor (PMSM) is used. This PMSM is a substitute for the role of conventional combustion engines, and PMSM is considered to have several advantages in increasing performance and efficiency. This research will develop a system to find parameter values for Linear Quadratic Gaussian (LQG) controllers in a hydraulic pump system that is installed as a load from PMSM and then observe and analyze the performance of the response of the synchronous motor system, namely in the form of changes in rotor rotation speed, torque electric power, and stator current on the q-axis. The results of the research on the characteristics of the PMSM implemented in the hydraulic pump system show that the LQG controller is more optimal when compared to the observer controller. The LQG controller is known to have a faster transient response, which is indicated by the value of the settling time improvement at no load, namely 116.67% for the observer controller and 364.705% without the controller. Then when the synchronous motor serves the nominal load, the rotational speed of the rotor produced in the steady state becomes 8.29% faster than the observer controller and 74.49% without the controller. This rotor's rotational speed affects the time the actuator needs to extend and retract motion.

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Section: Related Researchmentioning

confidence: 96%

Study of Permanent Magnet Synchronous Motor With LQG Controller and Observer On The Hydraulic Pump System

Setiawan,

Meilani,

Dermawan

et al. 2023

jeeccis

View full text Add to dashboard Cite

show abstract

“…In previous work, several LQG and H ∞ controllers for electrohydraulic steering systems based on various identification models are developed. These developments are presented in articles [19,20].…”

Section: Design Of Lqg and H ∞ Controllersmentioning

confidence: 99%

Robustness Analysis of an Electrohydraulic Steering Control System Based on the Estimated Uncertainty Model

2021

Self Cite

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The impossibility of replacing hydraulic drives with other type drives in heavy duty machinery is the main reason for the development of a system for controlling hydraulic power steering. Moreover, the need for remote automatic control of the steering in specific types of mobile machinery leads to significant scientific interest in the design of embedded systems for controlling electro-hydraulic steering units. This article introduces an approach, which has been developed by authors, for robust stability and robust performance analysis of two embedded systems for controlling electro-hydraulic power steering in mobile machinery. It is based on the suggested new more realistic “black box” SIMO model with output multiplicative uncertainty. The uncertainty is obtained by parameters confidence interval and Gauss approximation formula. The embedded control systems used a linear-quadratic Gaussian (LQG) controller and H∞ controller. The synthesis of the controllers was performed on the basis of a nominal part of an uncertainty model. Robust stability and robust performance analyses were performed in the framework of a so-called structured singular value, μ. The obtained theoretical results were experimentally approved by real experiments with both of the developed control systems, which were physically realized as a laboratory test rig.

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“…But this method cannot solve the problem of road surface disturbance and sensor noise etc., the system can't have very good robustness [18], [19]. Therefore, main contributions of the paper are as follows:…”

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confidence: 99%

A Robust Guiding Torque Control Method for Automatic Steering Using LMI Algorithm

Bai

Bao

et al. 2020

IEEE Access

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The existing path tracking methods usually neglect the effect of the drivers on the steering control. This paper proposes a robust steering control method of human-machine steering torque superposition based on linear matrix inequality (LMI) algorithm. First, the model for solving steering superposition torque introduces the steering system and steering resistance torque model in addition to the vehicle model, which increases the nonlinearity and uncertainty of system, and the human in torque superposition control also increases the external interferences. Therefore, this paper proposes a LMI robust control algorithm to reduce the external interference and the influence of uncertain factors on the system and improve the tracking performance of system, by use of Lyapunov stability theory and Schur complement property to convert the region pole assignment and robust control constraint conditions into LMI convex optimization problem. The next, the nonlinear vehicle dynamics solving model including Fiala tire model, steering column model is established; the nonlinear tire model is linearized by use of affine function, and the steering superposition control law is solved by use of LMI. Then, the union CarSim and Simulink simulation is conducted under different situations to verify the robustness and control performance of control system. Finally, through establishing the hardware-in-the-loop experiment table based on LabVIEW-RT, the effectiveness of control strategy is verified. The test results show that the method solves the model uncertainty and the robustness decrement problem resulting from human intervention, ensuring a good tracking performance, and a stable system at the same time. INDEX TERMS Steering system, intelligent vehicle, LMI, human-machine co-driving. I. INTRODUCTION

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Comparison of Robust Stability for Electrohydraulic Steering Control System Based on LQG and H-infinity Controller

Cited by 4 publications

References 3 publications

Study of Permanent Magnet Synchronous Motor With LQG Controller and Observer On The Hydraulic Pump System

Study of Permanent Magnet Synchronous Motor With LQG Controller and Observer On The Hydraulic Pump System

Robustness Analysis of an Electrohydraulic Steering Control System Based on the Estimated Uncertainty Model

A Robust Guiding Torque Control Method for Automatic Steering Using LMI Algorithm

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