High-Bandwidth Tracking Control of Electric Hydrostatic Actuator (EHA) Using an Input Shaping Filter

The purpose of this study is to achieve high-precision and high-bandwidth reference tracking control for an electric hydrostatic actuator (EHA). First, the pole placement method and the zero placement method were used to design a reference input tracking controller consisting of a PI-D controller and a feed-forward controller for the EHA-driven system. The feed-forward controller exhibited a high gain symptom in the frequency response as the actuation frequency of the system increased. An input shaping filter (ISF) with the style of a lag compensator was incorporated into the control system to suppress the increase in the control gain in the high-frequency range. The effectiveness of the proposed control system was evaluated by conducting experiments. The results indicate that the application of the proposed control system, including the ISF, can greatly improve the reference tracking control performance of the EHA-driven system. In addition, the proposed control system using the ISF is stable with a sufficient margin for a broad frequency range.