Abstract
In this paper, a non-linear position tracking controller that globally linearises the dynamics of an electrohydraulic actuator is derived. This controller and a linear controller are both implemented in a decentralised manner within a simulation model of a four-post road simulator. It is found that, for a typical road profile and a transit bus as the test vehicle, a position-tracking error metric is improved by over 60%. Matching of sprung mass vertical acceleration PSDs is improved by over 50%. Furthermore, suitable actuator interaction measures showed that, for the test cases, position loop interactions are quickly eliminated by either controller type.
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