Adaptive Tracking Control of an Electro-Pneumatic Clutch Actuator

This paper deals with the application of a simple adaptive algorithm for robust tracking control of an electro-pneumatic clutch actuator with output feedback.We present a mathematical model of the MODEL 1 strongly nonlinear system, and implement an adaptive algorithm, based on a parallel feedforward compensator (PFC) to remove the relative-degree-1 restriction.We propose a practical method of constructing the PFC, and introduce a simple modification that removes an inherent restriction on bandwidth of the nonlinear system.We show that the adaptive algorithm deals Clear Glass Can well with nonlinearities, and we achieve tracking corresponding to a settling-time of 150 ms.