Adaptive Sliding Mode Control for Hydraulic Drives: A New Approach

Research output: Contribution to book/anthology/report/conference proceedingArticle in proceedingResearchpeer-review

Abstract

This paper presents a new adaptive sliding mode controller generally applicable for position tracking control of electro-hydraulic valve-cylinder drives (VCD’s). The proposed control scheme requires limited knowledge on system parameters, and employs only piston- and valve spool position feedback. The main target is to overcome problems with linear controllers deteriorating performance due to the inherent nonlinear nature of such systems, without requiring extensive knowledge on system parameters nor advanced control theory. In order to accomplish this task, an integral sliding mode controller employing parameter adaption through a recursive algorithm is presented. This is based on a reduced order model approximation of a VCD with unmatched valve flow- and cylinder asymmetries. Bounds on parameters are obtained despite lack of parameter knowledge, and the proposed controller demonstrates improved position tracking performance and robustness / adaptability compared with a conventional feedforward-PI controller, when subjected to perturbations in supply pressure and coulomb friction.
Original languageEnglish
Title of host publicationProceedings of the 8th International Conference on Fluid Power Transmission and Control, ICFP 2013
Number of pages4
PublisherWorld Publishing Cooperation
Publication date2013
Pages359-362
ISBN (Print)978-7-89460-153-7
Publication statusPublished - 2013
Event8th International Conference on Fluid Power Transmission and Control , ICFP 2013 - Hangzhou, China
Duration: 9 Apr 201311 Apr 2013

Conference

Conference8th International Conference on Fluid Power Transmission and Control , ICFP 2013
CountryChina
CityHangzhou
Period09/04/201311/04/2013

Fingerprint

Hydraulic drives
Sliding mode control
Controllers
Reels
Robustness (control systems)
Control theory
Pistons
Hydraulics
Friction
Feedback

Keywords

  • Electro-Hydraulic Drives
  • Sliding Mode Control
  • Adaptive Parameter Tracking

Cite this

Schmidt, L., Andersen, T. O., Pedersen, H. C., & Bech, M. M. (2013). Adaptive Sliding Mode Control for Hydraulic Drives: A New Approach. In Proceedings of the 8th International Conference on Fluid Power Transmission and Control, ICFP 2013 (pp. 359-362). World Publishing Cooperation.
Schmidt, Lasse ; Andersen, Torben Ole ; Pedersen, Henrik C. ; Bech, Michael Møller. / Adaptive Sliding Mode Control for Hydraulic Drives : A New Approach. Proceedings of the 8th International Conference on Fluid Power Transmission and Control, ICFP 2013. World Publishing Cooperation, 2013. pp. 359-362
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title = "Adaptive Sliding Mode Control for Hydraulic Drives: A New Approach",
abstract = "This paper presents a new adaptive sliding mode controller generally applicable for position tracking control of electro-hydraulic valve-cylinder drives (VCD’s). The proposed control scheme requires limited knowledge on system parameters, and employs only piston- and valve spool position feedback. The main target is to overcome problems with linear controllers deteriorating performance due to the inherent nonlinear nature of such systems, without requiring extensive knowledge on system parameters nor advanced control theory. In order to accomplish this task, an integral sliding mode controller employing parameter adaption through a recursive algorithm is presented. This is based on a reduced order model approximation of a VCD with unmatched valve flow- and cylinder asymmetries. Bounds on parameters are obtained despite lack of parameter knowledge, and the proposed controller demonstrates improved position tracking performance and robustness / adaptability compared with a conventional feedforward-PI controller, when subjected to perturbations in supply pressure and coulomb friction.",
keywords = "Electro-Hydraulic Drives, Sliding Mode Control, Adaptive Parameter Tracking",
author = "Lasse Schmidt and Andersen, {Torben Ole} and Pedersen, {Henrik C.} and Bech, {Michael M{\o}ller}",
year = "2013",
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}

Schmidt, L, Andersen, TO, Pedersen, HC & Bech, MM 2013, Adaptive Sliding Mode Control for Hydraulic Drives: A New Approach. in Proceedings of the 8th International Conference on Fluid Power Transmission and Control, ICFP 2013. World Publishing Cooperation, pp. 359-362, 8th International Conference on Fluid Power Transmission and Control , ICFP 2013, Hangzhou, China, 09/04/2013.

Adaptive Sliding Mode Control for Hydraulic Drives : A New Approach. / Schmidt, Lasse; Andersen, Torben Ole; Pedersen, Henrik C.; Bech, Michael Møller.

Proceedings of the 8th International Conference on Fluid Power Transmission and Control, ICFP 2013. World Publishing Cooperation, 2013. p. 359-362.

Research output: Contribution to book/anthology/report/conference proceedingArticle in proceedingResearchpeer-review

TY - GEN

T1 - Adaptive Sliding Mode Control for Hydraulic Drives

T2 - A New Approach

AU - Schmidt, Lasse

AU - Andersen, Torben Ole

AU - Pedersen, Henrik C.

AU - Bech, Michael Møller

PY - 2013

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N2 - This paper presents a new adaptive sliding mode controller generally applicable for position tracking control of electro-hydraulic valve-cylinder drives (VCD’s). The proposed control scheme requires limited knowledge on system parameters, and employs only piston- and valve spool position feedback. The main target is to overcome problems with linear controllers deteriorating performance due to the inherent nonlinear nature of such systems, without requiring extensive knowledge on system parameters nor advanced control theory. In order to accomplish this task, an integral sliding mode controller employing parameter adaption through a recursive algorithm is presented. This is based on a reduced order model approximation of a VCD with unmatched valve flow- and cylinder asymmetries. Bounds on parameters are obtained despite lack of parameter knowledge, and the proposed controller demonstrates improved position tracking performance and robustness / adaptability compared with a conventional feedforward-PI controller, when subjected to perturbations in supply pressure and coulomb friction.

AB - This paper presents a new adaptive sliding mode controller generally applicable for position tracking control of electro-hydraulic valve-cylinder drives (VCD’s). The proposed control scheme requires limited knowledge on system parameters, and employs only piston- and valve spool position feedback. The main target is to overcome problems with linear controllers deteriorating performance due to the inherent nonlinear nature of such systems, without requiring extensive knowledge on system parameters nor advanced control theory. In order to accomplish this task, an integral sliding mode controller employing parameter adaption through a recursive algorithm is presented. This is based on a reduced order model approximation of a VCD with unmatched valve flow- and cylinder asymmetries. Bounds on parameters are obtained despite lack of parameter knowledge, and the proposed controller demonstrates improved position tracking performance and robustness / adaptability compared with a conventional feedforward-PI controller, when subjected to perturbations in supply pressure and coulomb friction.

KW - Electro-Hydraulic Drives

KW - Sliding Mode Control

KW - Adaptive Parameter Tracking

M3 - Article in proceeding

SN - 978-7-89460-153-7

SP - 359

EP - 362

BT - Proceedings of the 8th International Conference on Fluid Power Transmission and Control, ICFP 2013

PB - World Publishing Cooperation

ER -

Schmidt L, Andersen TO, Pedersen HC, Bech MM. Adaptive Sliding Mode Control for Hydraulic Drives: A New Approach. In Proceedings of the 8th International Conference on Fluid Power Transmission and Control, ICFP 2013. World Publishing Cooperation. 2013. p. 359-362