Robust gain scheduling control of an earthmoving vehicle powertrain

Rong Zhang, Andrew G Alleyne, Don E. Carter

Research output: Contribution to journalConference article

Abstract

The inter-load coupling and the nonlinearities make the control of a multivariable electro-hydraulic system a challenging problem, which has a practical significance in applications such as the earthmoving industry. In previous work, the nonlinear powertrain was locally modeled as an LTI MIMO system and a local LTI MIMO controller was designed at each operating point using an ℋ algorithm. In this paper, to cover the entire operating range of the nonlinear system, a gain-scheduled global controller is designed by scheduling different local controllers on the system flow rate and the power demand. A Local Controller Network scheduling strategy is utilized to simplify the closed-loop robust analysis. Different portions of outputs from different local controllers are combined into the total control by using interpolation-weighting functions. To guarantee the stability and the performance, the robustness of the closed-loop global system is analyzed by modeling the dynamics of the scheduling variables as an uncertainty. The design procedure is presented for a multivariable hydraulic control problem; the achieved stability and performance are demonstrated by both analytical and experimental results.

Original languageEnglish (US)
Pages (from-to)4969-4974
Number of pages6
JournalProceedings of the American Control Conference
Volume6
StatePublished - Nov 7 2003
Event2003 American Control Conference - Denver, CO, United States
Duration: Jun 4 2003Jun 6 2003

Fingerprint

Powertrains
Scheduling
Controllers
MIMO systems
Hydraulics
Convergence of numerical methods
Nonlinear systems
Interpolation
Flow rate
Industry

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Robust gain scheduling control of an earthmoving vehicle powertrain. / Zhang, Rong; Alleyne, Andrew G; Carter, Don E.

In: Proceedings of the American Control Conference, Vol. 6, 07.11.2003, p. 4969-4974.

Research output: Contribution to journalConference article

@article{13118216499b4410ae8d2a640f5c73ef,
title = "Robust gain scheduling control of an earthmoving vehicle powertrain",
abstract = "The inter-load coupling and the nonlinearities make the control of a multivariable electro-hydraulic system a challenging problem, which has a practical significance in applications such as the earthmoving industry. In previous work, the nonlinear powertrain was locally modeled as an LTI MIMO system and a local LTI MIMO controller was designed at each operating point using an ℋ∞ algorithm. In this paper, to cover the entire operating range of the nonlinear system, a gain-scheduled global controller is designed by scheduling different local controllers on the system flow rate and the power demand. A Local Controller Network scheduling strategy is utilized to simplify the closed-loop robust analysis. Different portions of outputs from different local controllers are combined into the total control by using interpolation-weighting functions. To guarantee the stability and the performance, the robustness of the closed-loop global system is analyzed by modeling the dynamics of the scheduling variables as an uncertainty. The design procedure is presented for a multivariable hydraulic control problem; the achieved stability and performance are demonstrated by both analytical and experimental results.",
author = "Rong Zhang and Alleyne, {Andrew G} and Carter, {Don E.}",
year = "2003",
month = "11",
day = "7",
language = "English (US)",
volume = "6",
pages = "4969--4974",
journal = "Proceedings of the American Control Conference",
issn = "0743-1619",
publisher = "Institute of Electrical and Electronics Engineers Inc.",

}

TY - JOUR

T1 - Robust gain scheduling control of an earthmoving vehicle powertrain

AU - Zhang, Rong

AU - Alleyne, Andrew G

AU - Carter, Don E.

PY - 2003/11/7

Y1 - 2003/11/7

N2 - The inter-load coupling and the nonlinearities make the control of a multivariable electro-hydraulic system a challenging problem, which has a practical significance in applications such as the earthmoving industry. In previous work, the nonlinear powertrain was locally modeled as an LTI MIMO system and a local LTI MIMO controller was designed at each operating point using an ℋ∞ algorithm. In this paper, to cover the entire operating range of the nonlinear system, a gain-scheduled global controller is designed by scheduling different local controllers on the system flow rate and the power demand. A Local Controller Network scheduling strategy is utilized to simplify the closed-loop robust analysis. Different portions of outputs from different local controllers are combined into the total control by using interpolation-weighting functions. To guarantee the stability and the performance, the robustness of the closed-loop global system is analyzed by modeling the dynamics of the scheduling variables as an uncertainty. The design procedure is presented for a multivariable hydraulic control problem; the achieved stability and performance are demonstrated by both analytical and experimental results.

AB - The inter-load coupling and the nonlinearities make the control of a multivariable electro-hydraulic system a challenging problem, which has a practical significance in applications such as the earthmoving industry. In previous work, the nonlinear powertrain was locally modeled as an LTI MIMO system and a local LTI MIMO controller was designed at each operating point using an ℋ∞ algorithm. In this paper, to cover the entire operating range of the nonlinear system, a gain-scheduled global controller is designed by scheduling different local controllers on the system flow rate and the power demand. A Local Controller Network scheduling strategy is utilized to simplify the closed-loop robust analysis. Different portions of outputs from different local controllers are combined into the total control by using interpolation-weighting functions. To guarantee the stability and the performance, the robustness of the closed-loop global system is analyzed by modeling the dynamics of the scheduling variables as an uncertainty. The design procedure is presented for a multivariable hydraulic control problem; the achieved stability and performance are demonstrated by both analytical and experimental results.

UR - http://www.scopus.com/inward/record.url?scp=0142168957&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0142168957&partnerID=8YFLogxK

M3 - Conference article

AN - SCOPUS:0142168957

VL - 6

SP - 4969

EP - 4974

JO - Proceedings of the American Control Conference

JF - Proceedings of the American Control Conference

SN - 0743-1619

ER -