2D independent actuator control based on a Proportional Derivative Active Force Control

Abstract

This paper presents a control method for 2D independent actuators using PDAFC (Proportional Derivative Active Force Control). PD is used to stabilize the actuators, where as AFC is used to reject disturbance uncertainty by estimating disturbance torque value of actuator. Simulation result shows that PDAFC can minimize disturbance uncertainly effect. To test the performances of a control system actuator given disorder sinuses and pulse. Actuator position of the Pitch angular at the time of the system in a state of steady amounting to 39.78 degrees without disturbance. actuator with sine disturbance, position pitch angular is 41.53 degrees and 51.69 degrees with pulse disturbance. Actuator position of the roll angular at the time of the system in a state of steady amounting to 39.59 degrees without disturbance. actuator with sine disturbance, position roll angular is 39.61 degrees and 44.27 degrees with pulse disturbance.