Time delay control of a pump-controlled electro-hydraulic actuator

This paper presents an accurate position control for a pump-controlled electro-hydraulic actuator (EHA) using time-delay estimation (TDE). The TDE technique is used to estimate nonlinear terms of EHA, which is a third order nonlinear system. The measured signal of linear encoder, and pressure of the EHA are used to implement the TDE technique. The effectiveness of the proposed controller is verified through experiment using an EHA test bench. The proposed controller shows better tracking performance compared with a PID controller.