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Modelling and control of actuators with built-in position controller

Zilong Shao 1 Gang Zheng 1, 2 Denis Efimov 1, 2 Wilfrid Perruquetti 1, 2, 3 
2 NON-A - Non-Asymptotic estimation for online systems
Inria Lille - Nord Europe, CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189
Abstract : This paper addresses the set-point control of actuators integrated with built-in controller, which presents steady-state error (SSE) under certain load. To eliminate the SSE, a model of the actuator-plus-controller system is established and identified, a switched adaptive controller is developed to work with the embedded one, considering the physical constraints, a switching control strategy is proposed. Implementation of the proposed controller and control strategy shows the ability of error elimination and the robustness under different operational conditions, with comparison to classic integral controller.
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Submitted on : Thursday, June 11, 2015 - 10:49:01 AM
Last modification on : Tuesday, December 6, 2022 - 12:42:13 PM
Long-term archiving on: : Tuesday, April 25, 2017 - 6:41:11 AM


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  • HAL Id : hal-01162683, version 1


Zilong Shao, Gang Zheng, Denis Efimov, Wilfrid Perruquetti. Modelling and control of actuators with built-in position controller. IFAC MICNON 2015, Jun 2015, Saint-Petersburg, Russia. ⟨hal-01162683⟩



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