The research of the force control of electric-actuator based on the principle of feedback linearization and adaptive control

A precise control method of force is proposed for Electric-actuator. Firstly, the basic cascade PI control framework is established and the basic parameters are determined. The nonlinear factors in the Electric-actuator are analyzed based on the accurate model, and the compensation structure based on the model parameters is designed by the feedback linearization principle to compensate the nonlinear links in the mechanism such as friction and load. The uncertainty resistance in the mechanism is regarded as unmodeled parameter, and the adaptive parameter estimator is designed to estimate and compensate the uncertainty disturbance in the mechanism in real time, which realizes the complete linearization from the input to the output of the controller and improves the anti-disturbance ability of the controller. Finally, the superiority and robustness of the designed control structure are verified by hardware-in-the-loop (HIL) test.