Adaptive observer-based switched control for electropneumatic clutch actuator with position sensor

In this paper we extend previous control design applied to an electropneumatic clutch actuator. A dual-mode switched nonlinear controller design and an adaptive nonlinear observer design are combined to achieve position control of the clutch actuator with only position measurements available. The observer provides estimates of position, velocity, chamber pressures, friction state and parameters, and clutch load characteristic parameters. The paper focus on design for implementation in a heavy duty truck system, and focus on performance evalution using simulations. Performance is tested with a simulation model which is validated against experimental results from a heavy duty test truck, showing no significant loss of performance due to lack of a pressure sensor.