Inner-Loop Control for Electro-Hydraulic (EHA) Actuation Systems

This article presents the development of a multiple inner-loop control strategy for improving the performance of hydrostatic actuation systems. In these actuators, the presence of non-linearities associated with pump/motor static friction and backlash, pressure drop in the piping system, and nonlinear friction at the load have a significant effect on the performance and positional accuracy of the system. The effect of nonlinear friction at the …