Point-to-Point trajectory tracking with discrete sliding mode control of an electro-hydraulic actuator system
This paper presents the position tracking performance of an electro-hydraulic hydraulic actuator (EHA) system by using a discrete sliding mode control (DSMC). A point-to-point trajectory is used in the experimental works to evaluate the performance of the DSMC which is design in two-degree-offreedom...
| Main Authors: | , , , , |
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| Format: | Conference or Workshop Item |
| Published: |
2011
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| Subjects: | |
| Online Access: | http://eprints.uthm.edu.my/2203/ |
| Summary: | This paper presents the position tracking performance
of an electro-hydraulic hydraulic actuator (EHA) system by using
a discrete sliding mode control (DSMC). A point-to-point
trajectory is used in the experimental works to evaluate the
performance of the DSMC which is design in two-degree-offreedom
(2-DOF) control structure. The design consists of DSMC
and a feedforward controller. The control law is derived from the
reaching law concept and its parameters are determined
methodically based on the identified model. Experimental results
reveal that the DMSC with 2-DOF control structure is highly
robust and capable to deal with the uncertainties and
disturbances occur during the position tracking control for
different point of trajectories. It is also shows that the proposed
controller can achieve better tracking performance as compared
to conventional LQR and PID controller. |
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