Abstract
The electro-hydraulic actuator (EHA) has been used for the precise position and the force con-trol applications. Many controllers have been applied to EHA such as sliding mode, and fuzzy PID controllers. However, the sensor fault problem in the EHA system is difficult to solve and challengeable in controller design. The system can lead to a damage if any sensor becomes faulty. Therefore, in this paper, a fault tolerant control (FTC) of a KYB MMP4 electro-hydraulic actuator is applied based on the mathematical modeling for tracking control in the sensor fault condition. Herein, the FTC for detecting and isolating the sensor fault signal is designed using the unknown input observer (UIO). In the sensor fault case, the fault detection and isolation (FDI) generates the feedback signal to the PID controller to drive the position of the actuator. The simulation and experimentations are performed to verify the performance of the FTC.
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