Robust Control of Hydraulic Actuator Using Back-Stepping Sliding Mode Controller

2011 ◽  
Author(s):  
Jeongju Choi
Keyword(s):  
Robust Control ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Hydraulic Actuator

State and Extended Disturbance Observer for Sliding Mode Control of Mismatched Uncertain Systems

2015 ◽  
Vol 137 (7) ◽  
Author(s):  
Divyesh Ginoya ◽  
P. D. Shendge ◽  
S. B. Phadke
Keyword(s):  
Disturbance Observer ◽  
Uncertain Systems ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Hydraulic Actuator ◽  
Ultimate Boundedness ◽  
Flexible Joint ◽  
System States ◽  
Flexible Joint Manipulator ◽  
Derivatives Of

In this paper, a state and extended disturbance observer (DO) is designed for mismatched uncertain systems. Apart from system states and disturbances, the proposed observer estimates the derivatives of the disturbances and thereby improves the accuracy of estimation of disturbances as well as the states. No knowledge of bounds of disturbances or their derivatives is assumed. An observer–controller combination for a sliding mode controller that requires the estimates of the derivatives of disturbances is described, and the ultimate boundedness of the overall system is proved. The proposed observer is illustrated by simulation of a numerical example and a rotary hydraulic actuator. The proposed observer–controller combination is validated on a serial flexible joint manipulator in laboratory.

scholarly journals Optimization of Modified Sliding Mode Controller for an Electro-hydraulic Actuator System with Mismatched Disturbance

2018 ◽  
Vol 8 (4) ◽  
pp. 2148 ◽  
Author(s):  
Siti Marhainis Othman ◽  
M. F. Rahmat ◽  
S. M. Rozali ◽  
Zulfatman Has ◽  
A. F. Z. Abidin
Keyword(s):  
Sliding Mode ◽  
Search Algorithm ◽  
External Disturbance ◽  
Tracking Error ◽  
Gravitational Search Algorithm ◽  
Sliding Mode Controller ◽  
Hydraulic Actuator ◽  
Mismatched Disturbance ◽  
System Output ◽  
Actuator System

<p>This paper presents the design of the modified sliding mode controller (MSMC) for the purpose of tracking the nonlinear system with mismatched disturbance. Provided that the performance of the designed controller depends on the value of control parameters, gravitational search algorithm (GSA), and particle swarm optimization (PSO) techniques are used to optimize these parameters in order to achieve a predefined system’s performance. In respect of system’s performance, it is evaluated based on the tracking error present between reference inputs transferred to the system and the system output. This is followed by verification of the efficiency of the designed controller in simulation environment under various values, with and without the inclusion of external disturbance. It can be seen from the simulation results that the MSMC with PSO exhibits a better performance in comparison to the performance of the similar controller with GSA in terms of output response and tracking error.</p>

Robust Control of a Surface Vehicle With Disturbances

2011 ◽  
Author(s):  
DongBin Lee ◽  
C. Nataraj ◽  
Timothy C. Burg
Keyword(s):  
Robust Control ◽  
Wind Wave ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Nonlinear Dynamic Model ◽  
Robust Controller ◽  
Environmental Disturbances ◽  
New Approach ◽  
Robust Approach ◽  
Simulation Results

In this paper, a new approach for robust control of a surface vehicle is presented. This approach uses a sliding mode controller with an additional robust term. A nonlinear dynamic model which is complicated by environmental disturbances is presented for a surface vehicle, dividing the model into the rigid-body portion, and a portion containing disturbance terms that the robust controller will reject. Following that, a robust approach based on sliding mode controller is developed for tracking desired trajectories in finite time while compensating for disturbances such as hydrodynamics, wind, wave, and currents based on Lyapunov-type stability analysis. Finally numerical simulation results are shown to demonstrate the validity of the proposed controllers.

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