Adaptive Tracking Control of an Electro-Pneumatic Clutch Actuator

• Main Authors: Glenn-Ole Kaasa, Masanori Takahashi
• Format: Article
• Language: English
• Published: Norwegian Society of Automatic Control 2003-10-01
• Series: Modeling, Identification and Control
• Subjects: adaptive tracking control; high-gain feedback
• Online Access: http://www.mic-journal.no/PDF/2003/MIC-2003-4-3.pdf
• ISSN: 0332-7353; 1890-1328

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.