| Issue |
E3S Web Conf.
Volume 207, 2020
25th Scientific Conference on Power Engineering and Power Machines (PEPM’2020)
|
|
|---|---|---|
| Article Number | 04001 | |
| Number of page(s) | 10 | |
| Section | Hydraulic and Pneumatic Fluid Power Systems and Machinery | |
| DOI | https://doi.org/10.1051/e3sconf/202020704001 | |
| Published online | 18 November 2020 | |
Comparison of Model Predictive Control (MPC) and Linear-Quadratic Gaussian (LQG) Algorithm for Electrohydraulic Steering Control System
1 Technical University of Sofia, Dept. of Hydroaerodynamics and Hydraulic Machines, Kliment Ohridski blvd. N8, Bulgaria
2 Technical University of Sofia, Dept. of Systems and Control, Kliment Ohridski blvd. 8, Bulgaria
* Corresponding author: a_mitov@tu-sofia.bg
The paper compares the performance of two embedded controllers applied in electrohydraulic steering systems – model predictive controller (MPC) and linear-quadratic Gaussian (LQG) controller with Kalman filtering for state estimation. Both controllers are designed on the basis of single input multiple output “black box” model obtained via identification approach. The controllers are implemented into industrial logic controller for mobile applications and their workability is experimentally checked with a laboratory model of a steering system for non-road mobile machinery. The results corresponding to investigation of performance of the closed-loop system are presented.
© The Authors, published by EDP Sciences, 2020
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