FEEDBACK LINEARISATION APPLIED ON A HYDRAULIC SERVO SYSTEM

Abstract

Generally most hydraulic systems are intrensically non-linear, why applying linearcontrol techniques typically results in conservatively dimensioned controllers to obtain stable performance. Non-linear control techniques have the potential of overcoming these problems, and in this paper the focus is on developing and applying several different feedback linearisation (FL) controllers to the individual servo actuators in a hydraulically driven servo robot to evaluate and compare their possiblities and limitations. This is done based on both simulation and experimental results.