Position Control of Electric Clutch Actuator Using a Triple-Step Nonlinear Method

For a novel electric clutch actuator, a nonlinear feedforward-feedback control scheme is proposed to improve the performance of the position tracking control. The design procedure is formalized as a triple-step deduction, and the derived controller consists of three parts: steady-state-like control; feedforward control based on reference dynamics; and state-dependent feedback control. The structure of the proposed nonlinear controller is concise and is also comparable to those widely used in modern automotive control. Finally, the designed controller is evaluated through simulations and experimental tests, which show that the proposed controller satisfied the control requirement. Comparison with proportional-integral-derivative control is given as well.