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.
H∞ Robust Control Design for Hydraulic Front Wheel Drive Speed Control of a Motor Grader
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Robinson, WD, & Kelkar, AG. "H∞ Robust Control Design for Hydraulic Front Wheel Drive Speed Control of a Motor Grader." Proceedings of the ASME 2003 International Mechanical Engineering Congress and Exposition. Fluid Power Systems and Technology. Washington, DC, USA. November 15–21, 2003. pp. 173-180. ASME. https://doi.org/10.1115/IMECE2003-41198
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