Design of an Adaptive Fuzzy Sliding Mode Controller for Hydraulic Position Servo System

被引：1
作者：
Tang, Guoqing [1 ,3 ]
Yang, Mingxing [1 ,2 ,3 ]
Liu, Qingyun [1 ,2 ,3 ]
Yang, Shuai [1 ,3 ]
机构：
[1] Anhui Univ Technol, Anhui Prov Key Lab Special Heavy Load Robot, Maanshan 243032, Peoples R China
[2] Anhui Univ Technol, Anhui Prov Engn Lab Intelligent Demolit Equipment, Maanshan 243032, Peoples R China
[3] Anhui Univ Technol, Sch Mech Engn, Maanshan 243032, Peoples R China
来源：
2023 IEEE 12TH DATA DRIVEN CONTROL AND LEARNING SYSTEMS CONFERENCE, DDCLS | 2023年
基金：
中国国家自然科学基金;
关键词：
Fuzzy self-tuning; sliding mode controller; hydraulic position servo system; time-varying parameters; TRACKING CONTROL;
D O I：
10.1109/DDCLS58216.2023.10165875
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, a novel fuzzy self-tuning mechanism-based adaptive sliding mode controller has been proposed to realize precise position tracking of a hydraulic position servo system with time-varying parameters. To ensure the robustness of the designed system, an adaptive sliding-mode control has been designed. It can also deal with the uncertainties in the dynamics of the hydraulic system. Meanwhile, a fuzzy self-tuning mechanism has been developed to regulate the proportional and switching gains of the reaching control term, which can minimize the chattering problem caused by discontinuous control action of the sliding mode controller. The stability of the controlled system is proven by the Lyapunov stability principle. Finally, a real-time control platform is established, and the effectiveness of the proposed controller for the specified tracking task is demonstrated by preliminary experiments.
引用
收藏
页码：1239 / 1244
页数：6
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