NDLI: A new robust sliding mode controller for a hydraulic actuator

Content Provider	IEEE Xplore Digital Library
Author	Jerouane, M. Lamnabhi-Lagarrigue, F.
Copyright Year	2001
Description	Author affiliation: Lab. des Signaux et Syst., CNRS, Gif-sur-Yvette, France (Jerouane, M.)
Abstract	We present the design of a robust sliding mode controller for the force control of a hydraulic actuator in presence of significant system nonlinearities and uncertainties. Our control strategy is based on sliding mode control. The design of a switching surface is based on Lyapunov techniques, and a variable structure control law is designed using the theory of sliding mode control. For the control we use a nonlinear mathematical model of a hydraulic system interacting with the environment. We try and consider most of the nonlinear and uncertain dynamics of this system in order to achieve robust performance over a range of operating conditions. The simulation results show that the proposed sliding mode controller is not sensitive to a large variation of parameters such as flow gain, supply pressure or environmental stiffness, and has an excellent tracking performance for various set point forces under uncertainties.
Sponsorship	IEEE Control Syst. Soc
Starting Page	908
Ending Page	913
File Size	359612
Page Count	6
File Format	PDF
ISBN	0780370619
DOI	10.1109/CDC.2001.980224
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2001-12-04
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robust control Sliding mode control Hydraulic actuators Force control Nonlinear control systems Uncertainty Control nonlinearities Control systems Mathematical model Hydraulic systems
Content Type	Text
Resource Type	Article

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