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H∞ Robust Control Design for Hydraulic Front Wheel Drive Speed Control of a Motor Grader

[+] Author Affiliations
William D. Robinson

John Deere Construction and Forestry Division, Dubuque, IA

Atul G. Kelkar

Iowa State University, Ames, IA

Paper No. IMECE2003-41198, pp. 173-180; 8 pages
  • ASME 2003 International Mechanical Engineering Congress and Exposition
  • Fluid Power Systems and Technology
  • Washington, DC, USA, November 15–21, 2003
  • Conference Sponsors: Fluid Power Systems and Technology Division
  • ISBN: 0-7918-3717-3 | eISBN: 0-7918-4663-6, 0-7918-4664-4, 0-7918-4665-2
  • Copyright © 2003 by ASME


A dual-mode H∞ robust tracking controller design is presented to regulate the speed of a hydraulic front wheel drive system on a motor grader. The controller design uses a multiplicative unstructured uncertainty model to account for the un-modeled dynamics of the plant and parametric uncertainties such as variations in fluid temperature and air entrainment. The H∞ design is compared to a classical PI controller design, which is the existing industrial practice. It is shown that the H∞ design provides a higher level of stability robustness and better performance guarantees, which make it a viable candidate for motor grader application.

Copyright © 2003 by ASME



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