Autors: Kralev, J. K., Mitov, A. S., Slavov, T. N., Angelov, I. I.
Title: Robust Mu-Controller for Electro-Hydraulic Steering System
Keywords: robust, mu-controller, electro-hydraulic, steering

Abstract: The paper presents the design of robust mu-controller for a laboratory test-bench composed of electrohydraulic-steering unit (EHSU), steering cylinder, 32-bit microcontroller, steering wheel and joystick. The controller design is based on an identified multivariable linear state-space model of the test-bench. Uncertain elements are introduced in the model from identification to account for unmodelled dynamic effects due to nonlinearities. Then the system is represented in a robust control framework and the structured singular value of the closed loop system is minimized with a DK iterative procedure to obtain robust stability and performance



    EUROCON 2019 - 18th International Conference on Smart Technologies, 1 July 2019 through 4 July 2019, vol. EUROCON 2019, issue 18, pp. 1-6, Article number 8861982, 2019, Serbia, Institute of Electrical and Electronics Engineers Inc., DOI 10.1109/EUROCON.2019.8861982

    Copyright IEEE

    Вид: публикация в международен форум, публикация в реферирано издание, индексирана в Scopus и Web of Science