MODELING AND ROBUST DISCRETE-TIME SLIDING MODE CONTROL DESIGN FOR A FLUID POWER ELECTROHYDRAULIC ACTUATOR (EHA) SYSTEM

被引:0
作者
Lin, Yang [1 ]
Shi, Yang [1 ]
Burton, Richard [1 ]
机构
[1] Univ Saskatchewan, Fluid Power & Control Lab, Dept Mech Engn, Saskatoon, SK S7N 5A9, Canada
来源
PROCEEDINGS OF THE ASME DYNAMIC SYSTEMS AND CONTROL CONFERENCE 2009, PTS A AND B | 2010年
关键词
VARIABLE-STRUCTURE CONTROL; OUTPUT-FEEDBACK; FRICTION; UNCERTAINTY;
D O I
暂无
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
This paper studies the design of a robust discrete-time sliding mode control (DT-SMC) for a high precision electro-hydraulic actuator (EHA) system with nonlinear actuator friction. Nonlinear friction in the hydraulic actuator can greatly influence the performance and accuracy of the hydraulic actuators; however, it is difficult to accurately model nonlinear friction characteristics. In this paper, it is proposed to characterize frictions as an uncertainty in the system matrices. Indeed, the effects of variations of the nonlinear friction coefficients are considered as norm bounded uncertainties that span a bounded region to cover a wide range of real actuator friction. For such a discrete-time dynamic model for the EHA system with system matrices uncertainties and a nonlinear term, a sufficient condition for the existence of stable sliding surfaces is proposed by using the linear matrix inequality (LMI) approach. Based on this existence condition, a discrete-time sliding mode controller is developed such that the reaching motion satisfies the discrete-time sliding mode reaching condition for uncertain systems. Simulation and comparison studies on the EHA system model illustrate the effectiveness of the proposed method. The study is simulation based only as it is important to establish the feasibility and stability of the controller before attempting to apply the controller to a physical system.
引用
收藏
页码:1587 / 1594
页数:8
相关论文
共 17 条
[1]  
[Anonymous], 1999, Sliding mode control in electromechanical systems
[2]   A SURVEY OF MODELS, ANALYSIS TOOLS AND COMPENSATION METHODS FOR THE CONTROL OF MACHINES WITH FRICTION [J].
ARMSTRONGHELOUVRY, B ;
DUPONT, P ;
DEWIT, CC .
AUTOMATICA, 1994, 30 (07) :1083-1138
[3]  
Boyd S., 1994, LINEAR MATRIX INEQUA
[4]  
CHINNIAH Y, 2004, THESIS U SASKATCHEWA
[5]   An explicit formula of linear sliding surfaces for a class of uncertain dynamic systems with mismatched uncertainties [J].
Choi, HH .
AUTOMATICA, 1998, 34 (08) :1015-1020
[6]   DISCRETE-TIME VARIABLE-STRUCTURE CONTROL-SYSTEMS [J].
GAO, WB ;
WANG, YF ;
HOMAIFA, A .
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 1995, 42 (02) :117-122
[7]   Design of a new high-performance electrohydraulic actuator [J].
Habibi, S ;
Goldenberg, A .
IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2000, 5 (02) :158-164
[8]  
Habibi S., 2000, International Journal of Fluid Power, P11, DOI DOI 10.1080/14399776.2000.10781088
[9]   Discrete sliding mode control of systems with unmatched uncertainty using multirate output feedback [J].
Janardhanan, S. ;
Bandyopadhyay, B. .
IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2006, 51 (06) :1030-1035
[10]  
Laurent E G, 1997, IEEE T AUTOMAT CONTR, V42, P1171