Design and experimental evaluation of a robust force controller for an electro-hydraulic actuator via quantitative feedback theory

This paper presents the design and experimental evaluation of an explicit force controller for a hydraulic actuator in the presence of signi"cant system uncertainties and nonlinearities. The nonlinear version of quantitative feedback theory (QFT) is employed to design a robust time-invariant controller. Two approaches are developed to identify linear time-invariant equivalent model that can precisely represent the nonlinear plant, operating over a wide range. The "rst approach is based on experimental input}output measurements, obtained directly from the actual system. The second approach is model-based, and utilizes the general nonlinear mathematical model of a hydraulic actuator interacting with an uncertain environment. Given the equivalent models, a controller is then designed to satisfy a priori speci"ed tracking and stability speci"cations. The controller enjoys the simplicity of "xed-gain controllers while exhibiting robustness. Experimental tests are performed on a hydraulic actuator equipped with a low-cost proportional valve. The results show that the compensated system is not sensitive to the variation of parameters such as environmental sti!ness or supply pressure and can equally work well for various set-point forces. ( 2000 Elsevier Science Ltd. All rights reserved.