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2021 | OriginalPaper | Chapter

Robust Stability and Performance Investigation of Electrohydraulic Steering Control System

Authors : Alexander Mitov, Tsonyo Slavov, Jordan Kralev, Ilcho Angelov

Published in: Future Access Enablers for Ubiquitous and Intelligent Infrastructures

Publisher: Springer International Publishing

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Abstract

The article introduces a robust stability and robust performance investigation of two embedded systems for control of electrohydraulic power steering in mobile machinery . They are based on advanced control techniques - linear-quadratic Gaussian (LQG) controller and H-infinity controller . The synthesis of the two controllers is performed via experimentally estimated SIMO state space model. The 30% input multiplicative uncertainty is introduced in estimated model. In this manner, a dead-band of proportional spool valve position is taken into account. This dead-band is constructively implemented to provide safety requirements of electrohydraulic steering. The robust stability and robust performance analysis are done by determining a structured singular value (μ) of the both closed-loop control systems, which are represented in M-Δ structure. The workability of the both systems are verified through simulation and real world experiments on laboratory test rig.

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Title: Robust Stability and Performance Investigation of Electrohydraulic Steering Control System
Authors: Alexander Mitov
Tsonyo Slavov
Jordan Kralev
Ilcho Angelov
Publisher: Springer International Publishing
Book: Future Access Enablers for Ubiquitous and Intelligent Infrastructures
Print ISBN: 978-3-030-78458-4

Electronic ISBN: 978-3-030-78459-1

Copyright Year: 2021
DOI: https://doi.org/10.1007/978-3-030-78459-1_29

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