The Development of Anti-Windup Scheme for Time Delay Control With Switching Action Using Integral Sliding Surface

Lee, Sung Uk; Chang, Pyung Hun

doi:10.1115/1.1636775

Cited by 24 publications

(9 citation statements)

References 6 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…An anti-windup scheme is applied to enhance the control performance. 33 A dead band exists in the hydraulic system due to the characteristics of the valve. Therefore, a compensator is designed and tuned via experiments to overcome the dead band.…”

Section: Control Methods Designmentioning

confidence: 99%

Robust position control of hydraulic manipulators using time delay estimation and nonsingular fast terminal sliding mode

Liang

Wan

Zhang

et al. 2017

Proceedings of the Institution of Mechanical Engineers, Part I:

View full text Add to dashboard Cite

A simple and robust tracking controller based on time delay estimation and nonsingular fast terminal sliding mode is proposed for the position control of hydraulic manipulator. The proposed controller does not require the mathematical model of hydraulic manipulator dynamics, which ensures that the method is simple and model free. Two elements, time delay estimation and nonsingular fast terminal sliding mode, are implemented in the proposed controller. Time delay estimation estimates the complex dynamics of the hydraulic manipulator, and nonsingular fast terminal sliding mode is implemented as the nonlinear desired error dynamic to ensure fast convergence and high trajectory tracking accuracy. Experiments are performed to verify the tracking performance of the method on a hydraulic manipulator. The results demonstrate that this method achieves faster and higher precision position tracking performance than a conventional time delay control with linear error dynamics.

show abstract

Section: Control Methods Designmentioning

confidence: 99%

Robust position control of hydraulic manipulators using time delay estimation and nonsingular fast terminal sliding mode

Liang

Wan

Zhang

et al. 2017

Proceedings of the Institution of Mechanical Engineers, Part I:

View full text Add to dashboard Cite

show abstract

“…which shows that the error dynamics inside the boundary layer is excited by the disturbance estimation error. The boundary-layer integral sliding mode controller behaves like a saturated PID controller, therefore an antiwindup method must be applied, as shown in [29]. Therein, during saturation of the sliding mode term in τ 1 , the sliding surface is reset such that z = −s 0 andż = 0.…”

Section: B Robust Attitude Tracking Controlmentioning

confidence: 99%

Evaluation of acceleration-based disturbance observation for multicopter control

Tomić

2014

2014 European Control Conference (ECC)

View full text Add to dashboard Cite

Small UAVs flying in narrow passages require robustness to turbulence caused by self-induced vortices. Aerial manipulation introduces modeling errors due to payload and parameter changes. When large external forces are applied, small helicopters must fly at orientations far outside hover conditions. The compensation of such uncertainties can be achieved through disturbance observation (DO). An onboard IMU makes the platform well-suited for acceleration-based DO. In this paper, we evaluate a cascaded attitude and position tracking controller for a quadrotor. Quaternions are used for attitude control to allow large orientation angles. We investigate attitude tracking by the boundary-layer integral sliding mode control coupled with acceleration-based DO. The position controller generates singularity-free quaternion and angular velocity signals. The presented controller is experimentally verified and compared to PID and backstepping controllers for trajectory tracking and hovering in turbulent conditions. Compensation of large external forces in the horizontal plane is shown through a stable 45 • hover.

show abstract

“…With respect to optimal antiwindup PID and antiwindup PID sliding mode controllers, the antiwindup algorithm shown in Figure 9 is used to consider saturation in an electric motor [2, 26–28]. …”

Section: Position Controller Design For a Prototype Ehamentioning

confidence: 99%

Design and Experimental Evaluation of a Robust Position Controller for an Electrohydrostatic Actuator Using Adaptive Antiwindup Sliding Mode Scheme

Lee

Park

Kim

2013

The Scientific World Journal

View full text Add to dashboard Cite

A robust control scheme is proposed for the position control of the electrohydrostatic actuator (EHA) when considering hardware saturation, load disturbance, and lumped system uncertainties and nonlinearities. To reduce overshoot due to a saturation of electric motor and to realize robustness against load disturbance and lumped system uncertainties such as varying parameters and modeling error, this paper proposes an adaptive antiwindup PID sliding mode scheme as a robust position controller for the EHA system. An optimal PID controller and an optimal anti-windup PID controller are also designed to compare control performance. An EHA prototype is developed, carrying out system modeling and parameter identification in designing the position controller. The simply identified linear model serves as the basis for the design of the position controllers, while the robustness of the control systems is compared by experiments. The adaptive anti-windup PID sliding mode controller has been found to have the desired performance and become robust against hardware saturation, load disturbance, and lumped system uncertainties and nonlinearities.

show abstract

The Development of Anti-Windup Scheme for Time Delay Control With Switching Action Using Integral Sliding Surface

Cited by 24 publications

References 6 publications

Robust position control of hydraulic manipulators using time delay estimation and nonsingular fast terminal sliding mode

Robust position control of hydraulic manipulators using time delay estimation and nonsingular fast terminal sliding mode

Evaluation of acceleration-based disturbance observation for multicopter control

Design and Experimental Evaluation of a Robust Position Controller for an Electrohydrostatic Actuator Using Adaptive Antiwindup Sliding Mode Scheme

Contact Info

Product

Resources

About