Finite-time adaptive sliding mode force control for electro-hydraulic load simulator based on improved GMS friction model

Kang, Shuo; Yan, Hao; Dong, Lijing; Li, Changchun

doi:10.1016/j.ymssp.2017.09.009

Cited by 59 publications

(16 citation statements)

References 29 publications

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“…Several types of control approaches had been proposed by researchers to control the nonlinear EHA system, such as linear quadratic regulator [6][7][8], PID controller [9][10][11], model predictive controller [12][13][14], backstepping controller [15][16][17], sliding mode controller [18][19][20][21], and other hybrid controllers [22][23][24]. However, the PID controller is still the main choice for industrial applications due to its fast design process, simple structure, and robust control performance [25].…”

Section: Introductionmentioning

confidence: 99%

The Effects of Weightage Values with Two Objective Functions in iPSO for Electro-Hydraulic Actuator System

Chai

Ghazali

Horng

et al. 2021

ARFMTS

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In this paper, the Proportional-Integral-Derivative (PID) controller with improved Particle Swarm Optimization (iPSO) algorithm is proposed for the positioning control of nonlinear Electro-Hydraulic Actuator (EHA) system. PID controller is chosen to control the EHA system due to its popularity in industrial applications. The PID controller parameters will be tuned by using the iPSO algorithm to get the lowest overshoot percentage and steady-state error. The conventional PSO algorithm has only one objective function to get the optimum parameters. However, this is not enough to increase the control performance of the EHA system. Therefore, an improved Particle Swarm Optimization (iPSO) that includes the mean error and overshoot percentage as the two objective functions is proposed in this paper. The most popular method in PSO that included two objective functions is Linear Weight Summation (LWS). In this method, the two objective functions are combined with certain weightage into one equation to give the best control performance. This paper focuses on determining the suitable weightage between these two objective functions so that the EHA system can produce the best control performance with less overshoot and less error. Overshoot percentage and steady-state error are used to indicate the best control performance. The results showed that EHA system can perform better by using suitable weightage between the mean error and overshoot percentage.

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Section: Introductionmentioning

confidence: 99%

The Effects of Weightage Values with Two Objective Functions in iPSO for Electro-Hydraulic Actuator System

Chai

Ghazali

Horng

et al. 2021

ARFMTS

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“…Hydraulic systems have been extensively employed in sundry industrial applications by utilizing the advantages of large force/torque output capability and small size-to-power ratios, such as automotive active suspensions (Huang et al, 2018; Ma et al, 2019; Sun et al, 2015), hydraulic load simulators (Kang et al, 2018; Wang et al, 2018; Yao et al, 2013), robots and manipulators (Chen and Fu, 2015; Montazeri et al, 2017), aircraft actuators (Sente et al, 2012), and so on. However, the existence of various modeling uncertainties and high nonlinear behaviors make it complicated for developing high-performance closed-loop controllers (Yang et al, 2017).…”

Section: Introductionmentioning

confidence: 99%

Dual extended state observer-based backstepping control of electro-hydraulic servo systems with time-varying output constraints

Yang

2019

Transactions of the Institute of Measurement and Control

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In this paper, a novel nonlinear robust controller ensuring time-varying output constraints for the double-rod hydraulic servo systems in the presence of largely unknown matched and mismatched disturbances is proposed. By employing two extended state observers for each channel of the load dynamics and pressure dynamics of the considered hydraulic system, the large matched and mismatched disturbances are successfully compensated. In addition, a time-varying barrier Lyapunov function (BLF) of asymmetric type has been employed to make sure that the position output is never violated. The resulting controller is synthesized using the backstepping procedure. The stability of the whole closed-loop hydraulic system associated with the dual extended state observer (ESO)-based controller is strictly guaranteed. In theory, the proposed control strategy can not only ensure the output satisfy the preset constrained space, but also enhance the output tracking performance when the system faces various largely unknown disturbances. The effectiveness of the proposed controller has also been demonstrated via comparative simulation results.

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“…A substantial amount of work on nonlinear adaptive and Sliding Mode Control (SMC) methods has been reported in the literature in relation to friction rejection. The reader is indicatively referred to [28,29,30,31,32,33], as well as to [34,35,36,37,38,39,40,41]. Although the powerful robustness properties of these controller families have been extensively analysed, their performance and applicability to machine tool control had not been adequately assessed, especially in comparison to the conventional P-PI cascades.…”

Section: Introductionmentioning

confidence: 99%

Adaptive and sliding mode friction-resilient machine tool positioning – Cascaded control revisited

Papageorgiou

Blanke

Niemann

et al. 2019

Mechanical Systems and Signal Processing

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Needs for high-accuracy tool positioning and accurate trajectory following have renewed the focus on controller design for machine tools. While state-of-the-art solutions, based on Proportional (P) and Proportional-Integral (PI) cascades, achieve sufficient nominal performance, axis positioning accuracy quickly degrades in the presence of additional wear-related friction. Sliding-mode and nonlinear adaptive controllers with no cascaded architecture can alleviate such performance deterioration at the cost, however, of significantly increased design complexity. This is mainly due to the fact that such architectures facilitate addressing more nonlinear phenomena, such as load dynamic friction. This paper investigates three nonlinear controllers with cascaded architecture for machine tool axis positioning. A comparative analysis of the positioning solutions is carried out and it is shown that a cascaded scheme comprising a proportional and a super-twisting sliding-mode controller offers superior friction-resilient axis positioning. Moreover, its design complexity is comparable to that of the conventional P-PI solution. Experimental results obtained from a single-axis test setup equipped with commercial industrial equipment validate the theoretical findings.

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Finite-time adaptive sliding mode force control for electro-hydraulic load simulator based on improved GMS friction model

Cited by 59 publications

References 29 publications

The Effects of Weightage Values with Two Objective Functions in iPSO for Electro-Hydraulic Actuator System

The Effects of Weightage Values with Two Objective Functions in iPSO for Electro-Hydraulic Actuator System

Dual extended state observer-based backstepping control of electro-hydraulic servo systems with time-varying output constraints

Adaptive and sliding mode friction-resilient machine tool positioning – Cascaded control revisited

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