Electro-hydraulic servo system for Human Lower-limb Exoskeleton based on sliding mode variable structure control

2013 ◽  
Author(s):  
Zhiyong Tang ◽  
Di Shi ◽  
Difei Liu ◽  
Zhaoqin Peng ◽  
Longlong He ◽  
...  
Keyword(s):  
Lower Limb ◽  
Sliding Mode ◽  
Variable Structure Control ◽  
Servo System ◽  
Variable Structure ◽  
Structure Control ◽  
Lower Limb Exoskeleton ◽  
Hydraulic Servo ◽  
Hydraulic Servo System ◽  
Sliding Mode Variable Structure

Slide - Mode Variable Structure Adaptive Control of Electro-Hydraulic Servo Systems Based on LuGre Friction Model

2014 ◽  
Vol 687-691 ◽  
pp. 371-374 ◽  
Author(s):  
Rui Juan Guo ◽  
Shuang Du ◽  
Hui Min Yin
Keyword(s):  
Sliding Mode ◽  
Servo System ◽  
Variable Structure ◽  
Friction Model ◽  
Interference Factor ◽  
Servo Systems ◽  
Hydraulic Servo ◽  
Hydraulic Servo System ◽  
Sliding Mode Variable Structure ◽  
Noise Factors

Electro-hydraulic servo system has more disturbance and noise factors at low speed than in other situations of the whole operating process, so the stability and performances of the system would be greatly affected by these factors. It is generally accepted that nonlinear torque disturbance is the main interference factor. In order to compensate above disadvantages, a sliding mode variable structure control was proposed to adjust the electro-hydraulic servo system. The results indicate that the provided approach possesses satisfactory performances in stability, robustness, steady state error and so on.

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