Incremental Nonlinear Dynamic Inversion Control for Hydraulic Hexapod Flight Simulator Motion Systems

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Abstract

Hydraulic driven manipulators face serious control problems due to the nonlinear system dynamics and model and parametric uncertainties of hydraulic actuators. In this paper, a novel sensor-based Incremental Nonlinear Dynamic Inversion controller is applied to force tracking control of hydraulic actuators of a hexapod flight simulator motion system, which together with an outer-loop motion tracking controller forms a motion control system. Due to the use of feedback of pressure difference derivatives, the proposed technique is not dependent on accurate model and parameters, which makes the controller inherently robust to model uncertainties. Furthermore, The sensor-based control approach is particularly suitable for hydraulic force tracking in existence of an outer-loop controller decoupling hydraulic-mechanic interaction term from the inner-loop dynamics. Simulation results indicate that the novel approach yields better tracking performance and confirm the greater robustness to model and parametric uncertainties compared with a traditional nonlinear dynamic invention approach.

Original languageEnglish
Title of host publicationIFAC-PapersOnLine
EditorsD. Dochain, D. Henrion, D. Peaucelle
PublisherElsevier
Pages4294-4299
Number of pages6
Volume50
DOIs
Publication statusPublished - 1 Jul 2017
Event20th World Congress of the International Federation of Automatic Control (IFAC), 2017 - Toulouse, France
Duration: 9 Jul 201714 Jul 2017
Conference number: 20
https://www.ifac2017.org

Publication series

NameIFAC-PapersOnLine

Conference

Conference20th World Congress of the International Federation of Automatic Control (IFAC), 2017
Abbreviated titleIFAC 2017
CountryFrance
CityToulouse
Period9/07/1714/07/17
Internet address

Keywords

  • Design methodologies
  • Mechatronic systems
  • Motion Control Systems

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  • Cite this

    Huang, Y., Pool, D. M., Stroosma, O., & Chu, Q. P. (2017). Incremental Nonlinear Dynamic Inversion Control for Hydraulic Hexapod Flight Simulator Motion Systems. In D. Dochain, D. Henrion, & D. Peaucelle (Eds.), IFAC-PapersOnLine (Vol. 50, pp. 4294-4299). (IFAC-PapersOnLine). Elsevier. https://doi.org/10.1016/j.ifacol.2017.08.837