Robust sliding mode control with application

Ha, QP; Rye, David; Durrant‐Whyte, Hugh

doi:10.1080/002071799220443

Cited by 24 publications

(16 citation statements)

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“…In addition, the use of SMC can offer fast response, good transient performance and order reduction. These advantages make the SM technique very widespread in robust control design (Ha et al, 1999;Utkin, 1992).…”

Section: Introductionmentioning

confidence: 99%

LMI-based adaptive fuzzy integral sliding mode control of mismatched uncertain systems

Mnasri¹,

Gasmi²

2011

International Journal of Applied Mathematics and Computer Science

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Integral sliding mode design is considered for a class of uncertain systems in the presence of mismatched uncertainties in both state and input matrices, as well as norm-bounded nonlinearities and external disturbances. A sufficient condition for the robust stability of the sliding manifold is derived by means of linear matrix inequalities. The initial existence of the sliding mode is guaranteed by the proposed control law. The improvement of the proposed control scheme performances, such as chattering elimination and estimation of norm bounds of uncertainties, is then considered with the application of an adaptive fuzzy integral sliding mode control law. The validity and efficiency of the proposed approaches are investigated through a sixth order uncertain mechanical system.

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Section: Introductionmentioning

confidence: 99%

LMI-based adaptive fuzzy integral sliding mode control of mismatched uncertain systems

Mnasri¹,

Gasmi²

2011

International Journal of Applied Mathematics and Computer Science

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“…Consider multi-axis control of the experimental excavator arm actuated by the hydraulic servo system described in [6]. The desired eigenvalues are chosen at {-10,-10) , which gives a settling time of 0.4s and no overshoot.…”

Section: Simulation Resultsmentioning

confidence: 99%

“…Among these methods, variable structure control with a sliding mode has been promoted by many authors [6,[12][13][14]. The reason is mainly because of its robustness to uncertainties.…”

Section: Controller Designmentioning

confidence: 99%

“…In that case, the piston effective area is A = Al = A, , and if Pl + P2 = PS , the supply pressure, the hydraulic servo model (3) can be reduced to a third-order system as described in [6].…”

Section: Remarkmentioning

confidence: 99%

“…It consists of three components: an equivalent control u,,q to assign desired dynamics to the closed-loop system, a switching control usw to guarantee a sliding mode, and a fuzzy control a f, to enhance fast tracking and to attenuate chattering. The equivalent control can be obtained from the nominal system parameters, denoted with bars (-), as follows [6,15]: …”

Section: Controller Designmentioning

confidence: 99%

See 2 more Smart Citations

Force and Position Control for Electrohydraulic Systems of a Robotic Excavator

Ha¹,

Nguyen²,

Rye³

et al. 1999

Proceedings of the 16th IAARC/IFAC/IEEE International Symposium on Automation and Robotics in Construction

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In impedance control of hydraulic excavators the piston position and ram force of each hydraulic cylinder for the axis control of the boom, arm, and bucket can be determined. The problem is thus how to find the control voltage applied to the servovalves to track these commands to the hydraulic systems. This paper presents analytic, simulation and experimental results for controllers that have been developed in our laboratory to achieve force and position tracking of clectrohydraulic systems of a robotic mini-excavator. The systems with hydraulic cylinders as actuators are represented by a comprehensive model taking into account friction, nonlinearities, and uncertainties. A discontinuous observer is developed for estimating both piston velocity and disturbance force including friction. With an observer-based compensation for disturbance, tracking of the piston rain force and position is guaranteed using a robust sliding mode controller. The control signal consists of three components: equivalent control, switching control, and fuzzy control. High performance and strong robustness can be obtained as demonstrated by simulation and experiments performed on a hydraulically-actuated Komatsu PC05-7 robotic excavator. Promising results are reported, and issues relating to future work are discussed.

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Robust hyperplane synthesis for sliding mode control systems via sensitivity minimization

Tam

Lam

2002

Optim Control Appl Methods

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SUMMARYA robust hyperplane computation scheme for sliding mode control systems is proposed in this paper. A novel sensitivity index for the sliding eigenvalues with respect to perturbations in the system matrix, the input matrix and the hyperplane matrix is derived in the first instance. The robust hyperplane design problem is then formulated as an optimization task in which the proposed sensitivity index is accordingly minimized. Gradient information of the objective function is established which permits optimization to be proceeded effectively. A numerical example with statistical testing is employed to illustrate the design technique.

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Robust sliding mode control with application

Cited by 24 publications

References 0 publications

LMI-based adaptive fuzzy integral sliding mode control of mismatched uncertain systems

LMI-based adaptive fuzzy integral sliding mode control of mismatched uncertain systems

Force and Position Control for Electrohydraulic Systems of a Robotic Excavator

Robust hyperplane synthesis for sliding mode control systems via sensitivity minimization

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