Full Content is available to subscribers

Subscribe/Learn More  >

Nonlinear Decentralized Position Control of Electrohydraulic Actuators in Road Simulation

[+] Author Affiliations
Beshahwired Ayalew, Bohdan T. Kulakowski

Pennsylvania State University

Paper No. IMECE2005-79714, pp. 63-72; 10 pages
  • ASME 2005 International Mechanical Engineering Congress and Exposition
  • Design Engineering, Parts A and B
  • Orlando, Florida, USA, November 5 – 11, 2005
  • Conference Sponsors: Design Engineering Division
  • ISBN: 0-7918-4215-0 | eISBN: 0-7918-3769-6
  • Copyright © 2005 by ASME


In this paper, a nonlinear position tracking controller is derived based on feedback linearization to globally linearize the nonlinear dynamics of an electrohydraulic actuator with nonlinear state feedback. A detailed computer model is developed for a four-post road simulation system with a transit bus as the test vehicle. Using this model, comparisons are conducted between the proposed nonlinear decentralized controller and a traditional linear decentralized controller. Previously introduced interaction measures suitable for time domain analysis of nonlinear systems confirm that, for the test vehicle considered, load plate position loop interactions are quickly eliminated by either the linear or nonlinear decentralized position controllers. The performance of the road simulator as gauged by a position tracking error metric for a typical rough road profile is improved by over 60% across all actuators and response matching of sprung mass vertical acceleration PSD is likewise improved by over 50% when using the nonlinear decentralized controller.

Copyright © 2005 by ASME



Interactive Graphics


Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In