Robust Position Control of an Electrohydraulic Actuator With a Faulty Actuator Piston Seal.

Presents the development of a fault tolerant control (FTC) strategy to compensate for the degrading effects of fluid leakage across a faulty actuator piston seal in an electrohydraulic positioning system. Description of the experimental test station; Development of nonlinear dynamic equations governing the motion of the experimental system; Application of the quantitative feedback theory to develop the set of local control laws; Outline of a simple control law switching scheme; Demonstration on the efficacy of the local controllers as well as the switching scheme.