title: Robust H(∞) positional control of 2-DOF robotic arm driven by electro-hydraulic servo system.
abstract: In this paper an H∞ positional feedback controller is developed to improve the robust performance under structural and parametric uncertainty disturbance in electro-hydraulic servo system (EHSS). The robust control model is described as the linear state-space equation by upper linear fractional transformation. According to the solution of H∞ sub-optimal control problem, the robust controller is designed and simplified to lower order linear model which is easily realized in EHSS. The simulation and experimental results can validate the robustness of this proposed method. The comparison result with PI control shows that the robust controller is suitable for this EHSS under the critical condition where the desired system bandwidth is higher and the external load of the hydraulic actuator is closed to its limited capability.
authors.affiliation: School of Aeronautics and Astronautics, University of Electronic Science and Technology of China, Chengdu 611731, China; Center for Power Transmission and Motion Control, Department of Mechanical Engineering, University of Bath, BA2 7AY, Bath, UK. Electronic address: guoqinguestc@uestc.edu.cn.
authors.forename: Qing
authors.initials: Q
authors.lastname: Guo
authors.affiliation: Center for Power Transmission and Motion Control, Department of Mechanical Engineering, University of Bath, BA2 7AY, Bath, UK. Electronic address: ty267@bath.ac.uk.
authors.forename: Tian
authors.initials: T
authors.lastname: Yu
authors.affiliation: School of Mechatronics Engineering, University of Electronic Science and Technology of China, Chengdu 611731, China. Electronic address: jdan2002@uestc.edu.cn.
authors.forename: Dan
authors.initials: D
authors.lastname: Jiang
keywords: 2-DOF robotic arm; Electro-hydraulic servo system; Robust  control; Structural and parametric uncertainty