Comparison of Estimator-Based Compensation Schemes for Hydrostatic Transmissions with Uncertainties

Abstract

In this paper, the achievable tracking performance of a decentralized control scheme of a hydrostatic transmission is investigated for three alternative estimators in combination with output feedback linearization: a state and disturbance observer, an adaptive parameter estimator and a neural network. All these estimators address the given disturbances and uncertainty in the hydraulic system and contribute to the robustness of the feedback linearization as well the tracking accuracy. Firstly, the three control schemes are evaluated by means of simulations and, secondly, validated by experiments on a dedicated test rig at the Chair of Mechatronics, University of Rostock.