Coordination optimization-based decoupling control for a multi-degree of freedom hydraulic system

Abstract

Multi-degree of freedom (MDOF) hydraulic systems normally consist of multiple hydraulic actuators. Motion synchronization among the multiple hydraulic actuators is crucial to determine the control performance in the applications of MDOF hydraulic systems. A coordination optimization-based decoupling control has been proposed and applied to a MDOF hydraulic system. A model of the MDOF hydraulic system is first presented. The proposed control method considers the interaction between two hydraulic actuators. The coordination optimization-based decoupling controller combines the merits of decoupling control, coordination-based integral as well as Gaussian coordination optimization. The satisfying dynamical and steady-state control performances as well as obvious alleviating interaction effectiveness are obtained.