Adaptive Tracking Control of an Electro-Pneumatic Clutch Actuator

Adaptive Tracking Control of an Electro-Pneumatic Clutch Actuator

Blog Article

This paper deals with the application of a simple adaptive algorithm for robust tracking control of an electro-pneumatic clutch actuator with output feedback.We present a mathematical model of the strongly nonlinear system, and implement an adaptive algorithm, based on a parallel feedforward compensator Hula Dolls (PFC) to remove the relative-degree-1 restriction.We propose a practical method of constructing the PFC, and introduce a simple Tool Set modification that removes an inherent restriction on bandwidth of the nonlinear system.We show that the adaptive algorithm deals well with nonlinearities, and we achieve tracking corresponding to a settling-time of 150 ms.