Modelling and control of actuators with built-in position controller

Zilong Shao (1) , Gang Zheng (1, 2) , Denis Efimov (1, 2) , Wilfrid Perruquetti (1, 2, 3)

1 CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189
2 NON-A - Non-Asymptotic estimation for online systems
3 Centrale Lille

This paper addresses the set-point control of actuators integrated with built-in controller, which presents steady-state error (SSE) under certain load. To eliminate the SSE, a model of the actuator-plus-controller system is established and identified, a switched adaptive controller is developed to work with the embedded one, considering the physical constraints, a switching control strategy is proposed. Implementation of the proposed controller and control strategy shows the ability of error elimination and the robustness under different operational conditions, with comparison to classic integral controller.

Domaines: Automatique / Robotique

Zilong Shao, Gang Zheng, Denis Efimov, Wilfrid Perruquetti. Modelling and control of actuators with built-in position controller. IFAC MICNON 2015, Jun 2015, Saint-Petersburg, Russia. ⟨hal-01162683⟩