U OF M COLLEGE OF ENGINEERING
CONTROL SEMINAR SERIES
WINTER TERM 1998
Professor Andrew Alleyne
Friday, January 16, 1998
4:00 - 5:00 pm
Title: Force Control of Electrohydraulic Servosystems
This talk will examine the control of an extensively used
actuation method: the hydraulic servosystem.
A brief history of the field will be presented as a background.
The academic activity levels were quite high post WW2 and
into the 1970's but, strangely enough, dropped off
dramatically with the introduction of the microprocessor.
The talk will then focus on a particular control problem associated
with hydraulic servosystems under electronic control: force control.
The problem will be motivated by an automotive
active suspension application.
Fundamental limitations to the simple linear control of this
problem will be presented. It is shown that the position
control problem is relatively simple and can be easily handled.
However, the force control problem becomes
much more difficult.
A nonlinear control approach is taken to solve the problems
One or more (time permitting)
theoretical analyses will be presented as a method
for achieving accurate nonlinear force control.
Additionally, due to the unknown nature
of some of the critical system parameters,
an adaptive algorithm is coupled to the nonlinear controller.
Lyapunov stability analysis guarantees asymptotic tracking
provided the system satisfies the stated assumptions.
Experimental results verify the predictions made by the
theory but also point out where some of the initial
assumptions were modified.
Andrew Alleyne graduated Magna Cum Laude from Princeton
University with a B.S.E. in Aerospace Engineering in 1989.
He received his M.S. degree and Ph.D. degree in 1992 and 1994,
respectively, from The University of California at Berekeley's
Mechanical Engineering Department.
He is presently an Assistant Professor in the Department of Mechnical
and Industrial Engineering at The University of Illinois,
His research interests focus on the modeling,
analysis and control of mechanical systems with a focus
on Automotive and Manufacturing Systems.
He is a recipient of a 1996 NSF CAREER award and
has been a faculty fellow at Ford Scientific Research Labs and
Caterpillar Technical Center.
In addition he worked briefly with the Jet Propulsion
Laboratory prior to graduate school.
Group Homepage |
Homepage | College of Engineering
© UofM College of Engineering Control Research Group -