Ana Lúcia Driemeyer Franco*, Edson Roberto De Pieri*, Eugênio Bona Castelan*, Raul Guenther** and Antônio Carlos Valdiero**
* Federal University of Santa Catarina (UFSC), DAS/CTC, Florianópolis, 88040-900 SC, Brazil
** Federal University of Santa Catarina (UFSC), EMC/CTC, Florianópolis, 88040-900 SC, Brazil
analucia@das.ufsc.br
, edson@das.ufsc.br,
, eugenio@das.ufsc.br,
, guenther@emc.ufsc.br,
, valdiero@emc.ufsc.br
In this paper the problem of experimental control of hydraulic actuators is considered. To deal with mechanical and hydraulic uncertainties two different controllers are synthesized: a backstepping controller and a LQR-2DOF controller. Experimental results of both implementations are analyzed in the context of practical difficulties, mainly the measure-ment of acceleration. These results illustrate the main features of these controllers when applied on a hydraulic actuator.
Keywords: hydraulic actuators, nonlinear control, Lyapunov based design, backstepping, linear control, 2DOF control design, robustness, distur-bance rejection