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“Adaptive Tracking Control of an Electro-Pneumatic Clutch Actuator”

Authors: Glenn-Ole Kaasa and Masanori Takahashi,
Affiliation: NTNU, Department of Engineering Cybernetics and Ariake National College of Technology (Japan)
Reference: 2003, Vol 24, No 4, pp. 217-229.

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Keywords: adaptive tracking control, high-gain feedback, electro-pneumatic clutch actuation

Abstract: This paper deals with the application of a simple adaptive algorithm for robust tracking control of an electro-pneumatic clutch actuator with output feedback. We present a mathematical model of the strongly nonlinear system, and implement an adaptive algorithm, based on a parallel feedforward compensator (PFC) to remove the relative-degree-1 restriction. We propose a practical method of constructing the PFC, and introduce a simple modification that removes an inherent restriction on bandwidth of the nonlinear system. We show that the adaptive algorithm deals well with nonlinearities, and we achieve tracking corresponding to a settling-time of 150 ms.

PDF PDF (1720 Kb)        DOI: 10.4173/mic.2003.4.3

DOI forward links to this article:
  [1] Dominik Schindele, Harald Aschemann and Robert Prabel (2013), doi:10.1080/13873954.2013.812970
  [2] Barna Szimandl and Huba Németh (2013), doi:10.1016/j.mechatronics.2012.10.006
  [3] Harald Aschemann, R. Prabel and D. Schindele (2012), doi:10.1109/ACC.2012.6315129
  [4] Robert Prabel, Dominik Schindele, Harald Aschemann and Saif Siddique Butt (2012), doi:10.1109/ICIEA.2012.6360905
  [5] Harald Aschemann, Dominik Schindele and Robert Prabel (2012), doi:10.1109/MMAR.2012.6347869
  [6] Barna Szimandl and Huba Nemeth (2014), doi:10.1109/MESA.2014.6935526
  [7] Dominik Schindele, Robert Prabel and Harald Aschemann (2012), doi:10.3182/20120215-3-AT-3016.00092
  [8] Barna Szimandl and Huba Németh (2013), doi:10.3182/20130204-3-FR-2033.00019
  [9] Robert Prabel and Harald Aschemann (2016), doi:10.1109/AIM.2016.7576746
  [10] Pengfei Qian, Xudong Ren, Guoliang Tao and Lianren Zhang (2017), doi:10.1177/1687814017702807
  [11] Robert Prabel and Harald Aschemann (2017), doi:10.1109/MMAR.2017.8046862
  [12] Pengfei Qian, Peng Xia, Yang Liu, Meng Lin, Bing Zhang and Fangwei Xie (2019), doi:10.1109/FPM45753.2019.9035915

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  title={{Adaptive Tracking Control of an Electro-Pneumatic Clutch Actuator}},
  author={Kaasa, Glenn-Ole and Takahashi, Masanori},
  journal={Modeling, Identification and Control},
  publisher={Norwegian Society of Automatic Control}


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