Study on iterative method of electro-hydraulic actuator in force control

There are many controllers in the force control of the electro-hydraulic actuator. However they have a limitation of the performance and the application. In this study, to apply the iterative control to the force control, the iterative control strong to nonlinearity of the system was investigated. The role of the learning factor, a gain that make the iterative control strong to nonlinearity, was argued. The electro-hydraulic actuator and testing part were modeled for the force control, and virtual simulator was constructed with the model. The iterative control of the force control was simulated in virtual, then decrease of the force tracking error was shown.