Universiti Teknologi Malaysia Institutional Repository

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

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


Official URL: http://dx.doi.org/10.30880/ijie.2019.11.04.018


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.

Item Type:Article
Uncontrolled Keywords:Optimisation, System identification
Subjects:T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions:Electrical Engineering
ID Code:89567
Deposited By: Widya Wahid
Deposited On:22 Feb 2021 10:20
Last Modified:22 Feb 2021 10:20

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