Sliding mode control for a model of an electrohydraulic actuator system with discontinuous nonlinear friction

Proceedings of the American Control Conference

Volumn 2006, Issue , 2006, Pages 5897-5904

  Shu, Wang ^a   Habibi, Saeid ^a   Burton, Rich ^a   Sampson, Eric ^b  

^a UNIVERSITY OF SASKATCHEWAN   (Canada)

^b Mathworks Company   (Canada)

Author keywords

[No Author keywords available]

Indexed keywords

DISCONTINUOUS NONLINEAR FRICTION; HYDROSTATIC ACTUATIONS; NONLINEAR FRICTION;

DISCRETE TIME CONTROL SYSTEMS; ELECTROHYDRODYNAMICS; NONLINEAR SYSTEMS; SLIDING MODE CONTROL; UNCERTAIN SYSTEMS; VELOCITY CONTROL;

PIEZOELECTRIC ACTUATORS;

EID: 34047217556     PISSN: 07431619     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (25)

1. W. Qian, R. Burton, G. Schoenau, and P. Ukrainetz, "Comparison of a PID controller to a neural net controller in a hydraulic system with nonlinear friction", in Proceedings of the 1998 ASME International Mechanical Engineering Congress and Exposition, 1998, no. 5, pp. 91-98.
2. B. Armstrong-Helouvry, P. Dupont, and C. Canudas de Wit, "Asurvey of models, analysis tools and compensation methods for the control of machines with friction", Automatica, vol. 30, no. 7, pp. 1083-1138, 1994.
3. P. E. Dupont, "Avoiding stick-slip through PD control", IEEE Transactions on Automatic Control, vol. 39, no. 5, pp. 1059-1097, 1994
4. S. Yang, and M. Tomizuka, "Adaptive pulse width control for precise positioning under the influence of stiction and Coulomb friction", Journal of Dynamic Systems, Measurement and Control, vol. 110, no. 3, pp. 221-227, 1988.
5. W Qian, "Neural Network Control of Nonlinear Hydraulic System", Master Thesis, Dept. of Mechanical Engineering, University of Saskatchewan, 1999.
6. P. E. Dupont, "The effect of friction on the forward dynamics problem", International Journal of Robotics Research, vol. 12, no. 2, pp. 164-179, 1993.
7. B. Friedland, and Y. Park, "On adaptive friction compensation", IEEE Transactions on Automatic Control, vol. 37, no. 10, pp. 1609-1612, 1992.
8. A. Besan-con-Voda, and P. Blaha, "Describing function approximation of a two-relay system configuration with application to Coulomb friction identification", Control Engineering Practice, vol. 10, pp.655-668, 2002.
9. S. R. Habibi, V. Pastrakujic, and A. A. Goldenberg, "Model identification of a high performance hydrostatic actuation system", American Society of Mechanical Engineers, The Fluid Power and Systems Technology Division (Publication) FPST, vol. 7, pp. 113-119, 2000.
10. Y. A. Chinniah, "Fault Detection In the Electrohydraulic Actuator Using Extended Kalman Filter", Ph.D Dissertation, Dept. of Mechanical Engineering, University of Saskatchewan, 2004
11. S. R. Habibi, and A. Goldenberg, "Design of A New High-Performance ElectroHydraulic Actuator", IEEE/ASME Transactions on Mechatronics, vol. 5, no. 2, pp. 158-164, 2000.
12. S. R. Habibi, and G. Singh, 2000, "Derivation of Design Requirements for Optimization of A High Performance Hydrostatic Actuation System", International Journal of Fluid Power, vol. 2, pp. 11-27, 2000.
13. E. Sampson, S. Habibi, R. Burton, and Y. Chinniah, "Effect of controller in reducing steady-state error due to flow and force disturbances in the electrohydraulic actuator system", International Journal of Fluid Power, vol. 5, no. 2, pp. 57-66, 2004.
14. V. Utkin, "Sliding Mode and Their Application in Variable Structure Systems", English translation, Mir Publication, Moscow, 1978.
15. V. I Utkin, and K., D. Yang, "Methods for constructing discontinuity planes in multidimensional variable structure systems", Automation and Remote Control, vol. 39, pp. 1466-1470, 1978.
16. S. K. Spurgeon, "Hyperplane Design Techniques for Discrete-Time Variable Structure Control Systems", International Journal of Control, vol. 55, no. 2, pp.445-456, 1992.
17. R. A. DeCarlo, S. H Zak, and S. V Drakunov, "Variable structure, sliding-mode controller design", in W. S. Levine, editor, The Control Handbook, CRC Press, Boca Raton, FL, pp. 941-951, 1996.
18. J.-J. E. Slotine, "Sliding Controller Design for Non-linear Systems", International Journal of Control, vol. 40, no. 2, pp.421-434, 1984.
19. R. A. Decarlo, S. H. Zak, and G. P. Matthews, "Variable Structure Control of Nonlinear Multivariable Systems: A Tutorial", in Proceedings of the IEEE, vol. 76, no. 3, pp. 212-232, 1988.
20. E. A. Misawa, "Discrete-Time Sliding Mode Control for Nonlinear Systems With Unmatched Uncertainties and Uncertain Control Vector", ASME Journal of Dynamic Systems, Measurement, and Control, vol. 119, pp. 503-512, 1997.
21. Y. Yasuda, S. Mano, N. Mori, T. Azegami, and S. Crotty, "PID controller with overshoot suppression algorithm", Proceedings of the ISA '90 International Conference and Exhibition Part 4 (of 4), vol. 45, no. pt 4, pp. 1849-1857, 1990.
22. C. Edwards, and S. K. Spurgeon, 1998, "Sliding Mode Control: Theory and Applications", Taylor & Francis Ltd., 1998.
23. L. R. Hunt, R. Su, and G. Meyer, "Global Transformations of Nonlinear Systems", IEEE Transactions on Automatic Control, vol. 28, no. 1, pp. 24-31, 1983.
24. E. A. Misawa, "Discrete-Time Sliding Mode Control: The Linear Case", ASME Journal of Dynamic Systems, Measurement, and Control, vol 119, pp. 819-821, 1997
25. V. I. Utkin, "Variable structure system with sliding modes." IEEE Transactions on Automatic Control, vol. AC-22, pp. 212-222, 1977.