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Passivity based Nonlinear controller for Position Tracking Control of Electro-Hydraulic Servo System
Wonhee Kim(김원희),Jongpyo Han(한종표),Indeok Choi(최인덕),Daehee Won(원대희),Chung Choo Chung(정정주) 제어로봇시스템학회 2008 제어로봇시스템학회 국내학술대회 논문집 Vol.2008 No.10
This paper presents a passivity controller for position control of electro-hydraulic servo system. Passivity based controller was designed to consider 5th order state space model of the hydraulic actuator which has a second order servo valve dynamics. Simulation results showed that position tracking performance of proposed controller is effective by bandwidth, step response, and path tracking test.