“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.

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
References:
[1] JOANNOU, P.A. DATTA, A. (1991). Robust adaptive control: A unified approach, Proceedings of the IEEE 7.12, 1736-1768 doi:10.1109/5.119551
[2] KAASA, G.-0. (1999). Nonlinear control of an electropneumatic automotive clutch actuation system, Master´s thesis, Norwegian University of Technology and Science, NTNU.
[3] KAASA, G.-0., CHAPPLE, P.J. LIE, B. (2001). An extended kalman filter applied to a pneumatic servo system - velocity and acceleration estimation in a clutch actuation application, In C. R. BURROWS and K. A. EIX5E,.Eds. Proceedings, Power Transmission and Motion Control Conference PMTC200 I, Professional Engineering Publishing Ltd., London and Bury St. Edmunds, UK.
[4] MILLER, D. E. DAVIDSON, E. J. (1991). An adaptive controller which provides an arbitrary good transient and steady-state response, IEEE Trans. Automat. Contr AC-3.1, 68-81 doi:10.1109/9.62269
[5] PETERSON, B.B. NARENDRA, K.S. (1982). Bounded error adaptive control, IEEE Trans. on Automatic Control, AC-2.6, 1161-1168 doi:10.1109/TAC.1982.1103112
[6] TAKAHASHI, M., MIZUMOTO, I., SEHORG, D. E. TWAI Z. (2001). An adaptive tracking control system based on switching compensators, In Proceedings of the 40th IEEE Conference on Decision and Control, Florida, USA.
[7] TANAKA, H. WADA, H. (1995). Fuzzy control of clutch engagement for automated manual transmissions, Vehicle System Dynamics 24, 365 376 doi:10.1080/00423119508969097


BibTeX:
@article{MIC-2003-4-3,
  title={{Adaptive Tracking Control of an Electro-Pneumatic Clutch Actuator}},
  author={Kaasa, Glenn-Ole and Takahashi, Masanori},
  journal={Modeling, Identification and Control},
  volume={24},
  number={4},
  pages={217--229},
  year={2003},
  doi={10.4173/mic.2003.4.3},
  publisher={Norwegian Society of Automatic Control}
};