On Model-based Control of Hydraulic Actuators

Electrohydraulic servosystems exhibit highly nonlinear behavior to the effect that classical linear controllers, e.g., PD, usually achieve a limited performance. Load static and dynamic parameters variations are also contributing to the limitation of their position and force tracking performance. This paper presents a modelbased controller applied to a fully detailed model of an electrohydraulic servosystem aiming at improving its position and force tracking performance. Fluid, servovalve, cylinder and load dynamics are taken into account. Simulation results show the strategy to be promising in controlling hydraulic servoactuators. The approach can be further extended to the control of hydraulically driven manipulators and simulators.