Mixed H2/H control of direct-drive electromechanical actuator

Guangzhao Luo, Peng Wang, Mei Wu, Jinwen An

Research output: Contribution to journalArticlepeer-review

2 Scopus citations


While elimination of reducer, on one hand, makes direct-drive Electromechanical actuator (EMA) system in some ways better, on the other hand it makes designing a controller, which is to ensure the robustness of the direct-drive EMA system, even more difficult. This paper introduces the structure and principles of a missile EMA based on a limited angle torque motor (LATM). According to the problem that direct-drive EMA system is sensitive to load disturbance and parameter perturbation, a mixed H2/H, controller of the actuator is designed. Mixed H2/H controller makes a suitable trade-off between dynamic performance and robustness. H2 control ensures the dynamic performance of the system, while H control ensures the robustness of the system that is subjected to bounded disturbance, parameter perturbation and model indeterminacy. Simulation results for a specific numerical example show that, under load disturbance and parameter perturbation, the maximum deflection of control surface is reduced by mixed H2/H controller to only about one seventh of that attainable by traditional PI controller; simulation results also show that mixed H2/H controller has robustness in tracing without steady state error.

Original languageEnglish
Pages (from-to)649-652
Number of pages4
JournalXibei Gongye Daxue Xuebao/Journal of Northwestern Polytechnical University
Issue number5
StatePublished - Oct 2004
Externally publishedYes


  • Direct-drive
  • Electromechanical actuator (EMA)
  • H/H control
  • Limited angle torque motor (LATM)


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