Identification and robust controller design for an electromechanical actuator with time delay

Abstract

This paper addresses the experimental identification, structured and unstructured uncertainty modelling, and robust control design of a real electromechanical actuator (EMA) harmonic drive system with time delay. Two approaches were used in the design of the robust controllers; the first is a novel method based on the complex Kharitonov theorem, which not only robustly stabilizes the uncertain EMA system with time delay, but also maintains the pre-specified margins and bandwidth constraints. The H N theory-based approach was applied in the second controller design. Furthermore, the discrepancies between the linear model and the actual system, due to non-linearities, were estimated as a multiplicative uncertainty. Experimental results prove the superiority of the performance of the designed robust EMA with an H N controller over the original EMA and robust EMA with Kharitonov's controller; this preference pertains to its robustness to parametric uncertainties and high performance.

Analysis and robust position control of an electromechanical control actuation system

“…The use of electromechanical-based actuation systems in the defence, aerospace and robotics industries is becoming increasingly widespread. The main reasons for this increase are dynamic system behaviour performance, high power density, easy controllability, simple structure, low cost, low volume requirement and reliability of electromechanical based actuation systems (Cui et al, 2014; Hao et al, 2010; Ristanović et al 2012; Salloum et al, 2015, 2016).…”

“…With the controllers, which are synthesized using a single model, it is not always possible to guarantee system performance under these adverse conditions. Robust control synthesis is often used to ensure that the electromechanical systems perform the desired position movements in a stable manner throughout the working region (Baskın and Leblebicioğlu, 2016; Brahim et al, 2017; Liu et al, 2014; Salloum et al, 2015; Yoo, 2017).…”

Research on dual-arm coordination motion control strategy for power cable mobile robot

“…Only when the internal force effectively and rationally is allocated to each various joint or absorbed by them can the robot complete the operation task normally (e.g. Berlinger et al, 2018; Feng et al, 2012; Salloum et al, 2015). Taking the bolt tightening in damper replacement operation as an example, the robot manipulator force control block diagram is shown in Figure 4.…”

A Hybrid Control with PID–Improved Sliding Mode for Flat-Top of Missile Electromechanical Actuator Systems

“…These nonlinear factors introduce several problems, such as tracking errors, limit cycles and poor stick-slip motion. In order to address these issues, various control schemes are proposed to control the position of the EMA system, including PID control algorithms [4,5,6,7],fuzzy control [8,9], intelligent algorithms [10], sliding mode control [11,12,13], the ADRC algorithm [14], robust control [15], active control [16], model-based prognostic algorithms [17], and compensation control [18,19,20]. Among these algorithms, PID is the most widely used because of its simplicity and reliability, though it suffers from poor robustness and weak anti-interference ability.…”