Robust Control of a Hydraulically Actuated Manipulator Using Sliding Mode Control

Michael Rygaard Hansen; Torben Ole Andersen; Henrik Clemmensen Pedersen

Robust Control of a Hydraulically Actuated Manipulator Using Sliding Mode Control

Michael Rygaard Hansen, Torben Ole Andersen, Henrik Clemmensen Pedersen

AAU Energy

Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research

10 Citations (Scopus)

Abstract

This paper presents an approach to robust control called sliding mode control (SMC) applied to the a hydraulic servo system (HSS), consisting of a servo valve controlled symmetrical cylinder. The motivation for applying sliding mode control to hydraulically actuated systems is its robustness towards structured (parametric) and unstructured (unmodeled dynamics) uncertainties. A third-order model of the actuated system is used to develop a sliding mode control which is implemented and tested on a simulation model. To avoid measurement of velocity and acceleration a simple first-order model is furthermore used to develop a simple sliding mode control (SSMC). The performance of the two controllers are compared and discussed.

Original language	English
Title of host publication	Proceedings of The Sixth International Conference on Fluid Power Transmission and Control (ICFP'2005)
Publication date	2005
Pages	864-868
Publication status	Published - 2005
Event	Fluid Power Transmission and Control ICFP'2005 - Hangzhou, China Duration: 5 Apr 2005 → 8 Apr 2005

Conference

Conference	Fluid Power Transmission and Control ICFP'2005
Country/Territory	China
City	Hangzhou
Period	05/04/2005 → 08/04/2005

Keywords

Hydraulic servo system
Sliding mode control

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title = "Robust Control of a Hydraulically Actuated Manipulator Using Sliding Mode Control",

abstract = "This paper presents an approach to robust control called sliding mode control (SMC) applied to the a hydraulic servo system (HSS), consisting of a servo valve controlled symmetrical cylinder. The motivation for applying sliding mode control to hydraulically actuated systems is its robustness towards structured (parametric) and unstructured (unmodeled dynamics) uncertainties. A third-order model of the actuated system is used to develop a sliding mode control which is implemented and tested on a simulation model. To avoid measurement of velocity and acceleration a simple first-order model is furthermore used to develop a simple sliding mode control (SSMC). The performance of the two controllers are compared and discussed.",

keywords = "Hydraulic servo system, Sliding mode control",

author = "Hansen, {Michael Rygaard} and Andersen, {Torben Ole} and Pedersen, {Henrik Clemmensen}",

year = "2005",

language = "English",

pages = "864--868",

booktitle = "Proceedings of The Sixth International Conference on Fluid Power Transmission and Control (ICFP'2005)",

note = "Fluid Power Transmission and Control ICFP'2005 ; Conference date: 05-04-2005 Through 08-04-2005",

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Robust Control of a Hydraulically Actuated Manipulator Using Sliding Mode Control. / Hansen, Michael Rygaard; Andersen, Torben Ole ; Pedersen, Henrik Clemmensen.
Proceedings of The Sixth International Conference on Fluid Power Transmission and Control (ICFP'2005). 2005. p. 864-868.

Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research

TY - GEN

T1 - Robust Control of a Hydraulically Actuated Manipulator Using Sliding Mode Control

AU - Hansen, Michael Rygaard

AU - Andersen, Torben Ole

AU - Pedersen, Henrik Clemmensen

PY - 2005

Y1 - 2005

N2 - This paper presents an approach to robust control called sliding mode control (SMC) applied to the a hydraulic servo system (HSS), consisting of a servo valve controlled symmetrical cylinder. The motivation for applying sliding mode control to hydraulically actuated systems is its robustness towards structured (parametric) and unstructured (unmodeled dynamics) uncertainties. A third-order model of the actuated system is used to develop a sliding mode control which is implemented and tested on a simulation model. To avoid measurement of velocity and acceleration a simple first-order model is furthermore used to develop a simple sliding mode control (SSMC). The performance of the two controllers are compared and discussed.

AB - This paper presents an approach to robust control called sliding mode control (SMC) applied to the a hydraulic servo system (HSS), consisting of a servo valve controlled symmetrical cylinder. The motivation for applying sliding mode control to hydraulically actuated systems is its robustness towards structured (parametric) and unstructured (unmodeled dynamics) uncertainties. A third-order model of the actuated system is used to develop a sliding mode control which is implemented and tested on a simulation model. To avoid measurement of velocity and acceleration a simple first-order model is furthermore used to develop a simple sliding mode control (SSMC). The performance of the two controllers are compared and discussed.

KW - Hydraulic servo system

KW - Sliding mode control

M3 - Article in proceeding

SP - 864

EP - 868

BT - Proceedings of The Sixth International Conference on Fluid Power Transmission and Control (ICFP'2005)

T2 - Fluid Power Transmission and Control ICFP'2005

Y2 - 5 April 2005 through 8 April 2005

ER -

Robust Control of a Hydraulically Actuated Manipulator Using Sliding Mode Control

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Keywords

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