Position Tracking Performance for ElectroHydraulic Actuator System with the Presence of Actuator Internal Leakage

C. M. Shern, R. Ghazali, C. C. Soon, Y. M. Sam, M. F. Rahmat


Electro-hydraulic actuator (EHA) system is known as one of the highly nonlinear systems due to its parameters uncertainties. Many types of robust controller had been studied and proposed to control the nonlinear EHA system. Different parameters uncertainties test is needed in the procedure to evaluate the controller robustness. In this paper, the effect of the actuator internal leakage to the output actuator displacement is studied. The actuator output displacement is analyzed using Root Mean Square Error (RMSE) by means of giving sinusoidal input reference. The results show that as the actuator internal leakage increases, the RMSE will increase and the actuator will start to vibrate or show damping characteristics.


Electro-Hydraulic Actuator System; Actuator Internal Leakage Coefficient; Performance Analysis;

Full Text:



Q. Ha, Q. Nguyen, D. Rye, and H. Durrant-Whyte, “Force and Position Control for Electrohydraulic Systems of a Robotic Excavator,” in IAARC/IFAC/IEEE. International symposium, 1999, pp. 483–489.

F. Bechet and K. Ohnishi, “An experimental validation of electrohydraulic transmission for haptic teleoperation-Comparison with thrust wire -,” in IEEE International Symposium on Industrial ElectronicsIndustrial Electronics (ISIE), 2014 IEEE 23rd International Symposium, 2014, pp. 1174–1179.

F. Bechet, K. Ogawa, E. Sariyildiz, and K. Ohnishi, “Electrohydraulic Transmission System for Minimally Invasive Robotics,” IEEE Trans. Ind. Electron., vol. 62, no. 12, pp. 7643–7654, 2015.

H. Martinez, S. Ballesteros, and N. Calvo, “Dynamic Stiffness Enhancement of a Flight Control Actuator using Control Techniques,” in Mechatronics (ICM), 2017 IEEE International Conference, 2017, pp. 260–265.

M. Karpenko and N. Sepehri, “Hardware-in-the-loop simulator for research on fault tolerant control of electrohydraulic flight control systems,” 2006 Am. Control Conf., p. 7 pp., 2006.

Y. Wang, J. Chen, Z. Zhang, Z. Cao, and D. Gong, “Research on Novel Integrated Rudder Servo System for Aircraft Aerodynamic Control Based on Double Digital Closed Channels of Power Management and Load Damping,” in Fluid Power and Mechatronics (FPM), 2015 International Conference, 2015, pp. 194–199.

J. J. Castillo, J. A. Cabrera, A. J. Guerra, and A. Simon, “A Novel Electrohydraulic Brake System with Tire-Road Friction Estimation and Continuous Brake Pressure Control,” IEEE Trans. Ind. Electron., vol. 63, no. 3, pp. 1863–1875, 2016.

W. Sun, H. Gao, and B. Yao, “Adaptive robust vibration control of full-car active suspensions with electrohydraulic actuators,” IEEE Trans. Control Syst. Technol., vol. 21, no. 6, pp. 2417–2422, 2013.

W. Sun, H. Pan, and H. Gao, “Filter-Based Adaptive Vibration Control for Active Vehicle Suspensions with Electrohydraulic Actuators,” IEEE Trans. Veh. Technol., vol. 65, no. 6, pp. 4619–4626, 2016.

J. Yao, Z. Jiao, D. Ma, and L. Yan, “High-accuracy tracking control of hydraulic rotary actuators with modeling uncertainties,” IEEE/ASME Trans. Mechatronics, vol. 19, no. 2, pp. 633–641, 2014.

C. Kaddissi, J.-P. Kenne, and M. Saad, “Identification and Real-Time Control of an Electrohydraulic Servo System Based on Nonlinear Backstepping,” IEEE/ASME Trans. Mechatronics, vol. 12, no. 1, pp. 12–22, 2007.

C. S. Chong, “Position tracking optimization for an electro-hydraulic actuator system,” J. Telecommun. Electron. Comput. Eng., vol. 8, no. 7, pp. 1–6, 2016.

C. S. Chong, “Optimization of sliding mode control using particle swarm algorithm for an electro-hydraulic actuator system,” J. Telecommun. Electron. Comput. Eng., vol. 8, no. 7, pp. 71–76, 2016.

R. Ghazali, Y. M. Sam, M. F. A. Rahmat, and Z. Has, “Adaptive discrete sliding mode control for a non-minimum phase electrohydraulic actuator system,” Lect. Notes Electr. Eng., vol. 291 LNEE, pp. 3–14, 2014.

Z. Has, M. F. ad Rahmat, A. R. Husain, and R. Ghazali, “Sliding mode control with switching-gain adaptation based-disturbance observer applied to an electro-hydraulic actuator system,” Proc. 2013 IEEE 8th Conf. Ind. Electron. Appl. ICIEA 2013, pp. 668–673, 2013.

E. Kolsi Gdoura, M. Feki, and N. Derbel, “Sliding Mode Based Robust Position Control of An Electrohydraulic System,” in 10th International Multi-Conference on Systems, Signals & Devices, 2013, pp. 1–5.

R. Ghazali, Y. M. Sam, M. F. A. Rahmat, and Zulfatman, “Point-topoint trajectory tracking with two-degree-of-freedom robust control for a non-minimum phase electro-hydraulic system,” in Proceedings of the World Congress on Intelligent Control and Automation (WCICA), 2012, pp. 2661–2668.

M. Kalyoncu and M. Haydim, “Mathematical modelling and fuzzy logic based position control of an electrohydraulic servosystem with internal leakage,” Mechatronics, vol. 19, no. 6, pp. 847–858, 2009.

V. Arne, L. Dmitrij, and B. Zoltan, “Detection of Hydraulic Cylinder Leakage,” Aalborg University, 2016.


  • There are currently no refbacks.

Creative Commons License
This work is licensed under a Creative Commons Attribution 3.0 License.

ISSN: 2180-1843

eISSN: 2289-8131