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System identification and model predictive control using CVXGEN for electro-hydraulic actuator

Hydraulics have been widely used in heavy industries for decades. The demand for intelligent hydraulic control system has been increasing as tough robotic researches are getting more popular. Despite the high power to weight ratio delivery, the hydraulic actuator suffers from nonlinearity properties...

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Main Authors: Xuan, Wong Liang, Mohd. Faudzi, Ahmad 'Athif, Ismail, Zool Hilmi
Format: Article
Language:English
Published: Penerbit UTHM 2019
Subjects:
TK Electrical engineering. Electronics Nuclear engineering
Online Access:http://eprints.utm.my/id/eprint/89567/1/Ahmad%27AthifMohdFaudzi2019_SystemIdentificationandModelPredictiveControl.pdf
http://eprints.utm.my/id/eprint/89567/
http://dx.doi.org/10.30880/ijie.2019.11.04.018
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spelling my.utm.895672021-02-22T02:20:35Z http://eprints.utm.my/id/eprint/89567/ System identification and model predictive control using CVXGEN for electro-hydraulic actuator Xuan, Wong Liang Mohd. Faudzi, Ahmad 'Athif Ismail, Zool Hilmi TK Electrical engineering. Electronics Nuclear engineering Hydraulics have been widely used in heavy industries for decades. The demand for intelligent hydraulic control system has been increasing as tough robotic researches are getting more popular. Despite the high power to weight ratio delivery, the hydraulic actuator suffers from nonlinearity properties that cause difficulties in applying precise position control. In this paper we proposed Model Predictive Control (MPC) to control an Electro-Hydraulic Actuator (EHA) where its dynamic characteristics is obtained through system identification method. Control signal generation optimisation and constraint handling are seldom included in the conventional control system design process. Therefore we introduce CVXGEN, a Code Generator for Embedded Convex Optimization that utilises the Quadratic Programming (QP) interior-point solver for MPC optimisation problem. Predictive Functional Control (PFC) is used to validate the CVXGEN-MPC and both algorithms are implemented in simulation and experiment of EHA position control to highlight the optimisation and constraint handling problem. Control performance, control effort, constraint handling and disturbance handling of both methods are discussed. Penerbit UTHM 2019 Article PeerReviewed application/pdf en http://eprints.utm.my/id/eprint/89567/1/Ahmad%27AthifMohdFaudzi2019_SystemIdentificationandModelPredictiveControl.pdf Xuan, Wong Liang and Mohd. Faudzi, Ahmad 'Athif and Ismail, Zool Hilmi (2019) System identification and model predictive control using CVXGEN for electro-hydraulic actuator. International Journal of Integrated Engineering, 11 (4). pp. 166-174. ISSN 2229-838X http://dx.doi.org/10.30880/ijie.2019.11.04.018
institution Universiti Teknologi Malaysia
building UTM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknologi Malaysia
content_source UTM Institutional Repository
url_provider http://eprints.utm.my/
language English
topic TK Electrical engineering. Electronics Nuclear engineering
spellingShingle TK Electrical engineering. Electronics Nuclear engineering
Xuan, Wong Liang
Mohd. Faudzi, Ahmad 'Athif
Ismail, Zool Hilmi
System identification and model predictive control using CVXGEN for electro-hydraulic actuator
description Hydraulics have been widely used in heavy industries for decades. The demand for intelligent hydraulic control system has been increasing as tough robotic researches are getting more popular. Despite the high power to weight ratio delivery, the hydraulic actuator suffers from nonlinearity properties that cause difficulties in applying precise position control. In this paper we proposed Model Predictive Control (MPC) to control an Electro-Hydraulic Actuator (EHA) where its dynamic characteristics is obtained through system identification method. Control signal generation optimisation and constraint handling are seldom included in the conventional control system design process. Therefore we introduce CVXGEN, a Code Generator for Embedded Convex Optimization that utilises the Quadratic Programming (QP) interior-point solver for MPC optimisation problem. Predictive Functional Control (PFC) is used to validate the CVXGEN-MPC and both algorithms are implemented in simulation and experiment of EHA position control to highlight the optimisation and constraint handling problem. Control performance, control effort, constraint handling and disturbance handling of both methods are discussed.
format Article
author Xuan, Wong Liang
Mohd. Faudzi, Ahmad 'Athif
Ismail, Zool Hilmi
author_facet Xuan, Wong Liang
Mohd. Faudzi, Ahmad 'Athif
Ismail, Zool Hilmi
author_sort Xuan, Wong Liang
title System identification and model predictive control using CVXGEN for electro-hydraulic actuator
title_short System identification and model predictive control using CVXGEN for electro-hydraulic actuator
title_full System identification and model predictive control using CVXGEN for electro-hydraulic actuator
title_fullStr System identification and model predictive control using CVXGEN for electro-hydraulic actuator
title_full_unstemmed System identification and model predictive control using CVXGEN for electro-hydraulic actuator
title_sort system identification and model predictive control using cvxgen for electro-hydraulic actuator
publisher Penerbit UTHM
publishDate 2019
url http://eprints.utm.my/id/eprint/89567/1/Ahmad%27AthifMohdFaudzi2019_SystemIdentificationandModelPredictiveControl.pdf
http://eprints.utm.my/id/eprint/89567/
http://dx.doi.org/10.30880/ijie.2019.11.04.018
_version_ 1692991798318727168
score 13.211869

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