A Sliding Mode Control Strategy for an ElectroHydrostatic Actuator with Damping Variable Sliding Surface

Wang, Mingkang; Wang, Yan; Yang, Rongrong; Fu, Yongling; Zhu, Deming

doi:10.3390/act10010003

Cited by 15 publications

(19 citation statements)

References 38 publications

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“…Sliding mode control is a discontinuous variable structure control with strong robustness, but discontinuous switching control is accompanied by high-frequency chattering [25,26]. In order to reduce the steady-state error caused by high-frequency chattering, this design adopted the improved sliding mode control (ISMC) to achieve fast, chatter-free, and accurate response.…”

Section: Design Of Improved Integral Sliding Mode Control Lawmentioning

confidence: 99%

Improved Sliding Mode-Active Disturbance Rejection Control of Electromagnetic Linear Actuator for Direct-Drive System

Tan

et al. 2021

Actuators

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The electromagnetic linear actuator is used as the core drive unit to achieve high precision and high response in the direct-drive actuation system. In order to improve the response performance and control accuracy of the linear drive unit, an improved sliding mode-active disturbance rejection control (ISM-ADRC) method was proposed. A motor model was established based on improved LuGre dynamic friction. The position loop adopts the improved integral traditional sliding mode control based on an extended state observer, and the current loop adopts PI control. The stability of the system is verified based on the Lyapunov theory. A nonlinear dilated state observer is used to effectively observe the electromagnetic linear actuator position and velocity information while estimating and compensating the internal and external uncertainty perturbations. At the same time, the saturation function sat(s) is used to replace the sign(s) and introduce the power function of the displacement error variable. The improved integral sliding mode control law further improves the response speed and control accuracy of the controller while reducing the jitter inherent in the conventional sliding mode. Simulation and experimental data show that the proposed improved sliding mode-active disturbance rejection control reduces the 8-mm step response time of the electromagnetic linear actuator by 21.9% and the steady-state error by less than 0.01 mm compared with the conventional sliding-mode control, while the system has 49.4% less adjustment time for abrupt load changes and is more robust to different loads and noise.

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Section: Design Of Improved Integral Sliding Mode Control Lawmentioning

confidence: 99%

Improved Sliding Mode-Active Disturbance Rejection Control of Electromagnetic Linear Actuator for Direct-Drive System

Tan

et al. 2021

Actuators

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“…where x d stands for the targeted tracking position of the system. We define the damping variable (DV) sliding surfaces as follows [20]:…”

Section: Design Of the Adaptive Damping Variable Sliding Mode Control...mentioning

confidence: 99%

“…On the one hand, the result of step signals is introduced in [20], while the results of tracking sinusoidal input are not taken into consideration. On the other hand, performance degradation is inevitable because of the omission of feedforward items, i.e., the derivative of the reference that can be regarded as compensation.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Damping Variable Sliding Mode Control for an Electrohydrostatic Actuator

Wang

Yang

et al. 2021

Actuators

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An electrohydrostatic actuator (EHA) is a basic mechanical/hydraulic system with deficiencies including significant nonlinearity and parametric uncertainties. In line with the challenges of designing a high-precision control strategy, an adaptive damping variable sliding mode controller is established, which extends our previous work on EHA control. The proposed controller integrates variable-damping sliding mode control, parametric adaptation, and an extended state observer. The parametric uncertainties are effectively captured and compensated by employing an adaptive control law, while system uncertainties are reduced, and disturbances are estimated and compensated with a fast and stable response. We evaluated the proposed control strategy on a variety of position tracking tasks. The experimental results demonstrate that our controller significantly outperforms the widely used methods in overshoot suppression, settling time, and tracking accuracy.

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“…Among various control schemes, sliding mode control (SMC) is a powerful nonlinear control technology, which has a simple control structure, easy to implement, with fast response, insensitivity and strong robustness to system external disturbance and model uncertainties [9][10][11][12]; therefore, it has attracted a lot of attention and has been applied in the ETS [7,8,[13][14][15][16]. However, the traditional SMC suppresses external disturbance and model uncertainties mainly by adding a discontinuous switching term.…”

Section: Introductionmentioning

confidence: 99%

Development of Sliding Mode Controller Based on Internal Model Controller for Higher Precision Electro-Optical Tracking System

et al. 2022

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The electro-optical tracking system (ETS) on moving platforms is affected by the vibration of the moving carrier, the wind resistance torque in motion, the uncertainty of mechanisms and the nonlinear friction between frames and other disturbances, which may lead to the instability of the electro-optical tracking platform. Sliding mode control (SMC) has strong robustness to system disturbances and unknown dynamic external signals, which can enhance the disturbance suppression ability of ETSs. However, the strong robustness of SMC requires greater switching gain, which causes serious chattering. At the same time, the tracking accuracy of SMC has room for further improvement. Therefore, in order to solve the chattering problem of SMC and improve the tracking accuracy of SMC, an SMC controller based on internal model control (IMC) is proposed. Compared with traditional SMC, the proposed method can be used to suppress the strongest disturbance with the smallest switching gain, effectively solving the chattering problem of the SMC, while improving the tracking accuracy of the system. In addition, to reduce the adverse influence of sensor noise on the control effect, lifting wavelet threshold de-noising is introduced into the control structure to further improve the tracking accuracy of the system. The simulation and experimental results verify the superiority of the proposed control method.

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A Sliding Mode Control Strategy for an ElectroHydrostatic Actuator with Damping Variable Sliding Surface

Cited by 15 publications

References 38 publications

Improved Sliding Mode-Active Disturbance Rejection Control of Electromagnetic Linear Actuator for Direct-Drive System

Improved Sliding Mode-Active Disturbance Rejection Control of Electromagnetic Linear Actuator for Direct-Drive System

Adaptive Damping Variable Sliding Mode Control for an Electrohydrostatic Actuator

Development of Sliding Mode Controller Based on Internal Model Controller for Higher Precision Electro-Optical Tracking System

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