An approach for second order control with finite time convergence for electro-hydraulic drives

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

5 Citations (Scopus)

Abstract

Being a second order sliding algorithm, the super twisting algorithm is highly attractive for application in control of hydraulic drives and mechanical systems in general, as it utilizes only the control error while driving the control error as well as its derivative to zero for properly chosen algorithm parameters. However a discontinuous term internally in the control structure may excite pressures of transmission lines in hydraulic drives as the control structure strives to maintain the control error and its derivative equal to zero. In this paper a modified version of a controller based on the super twisting algorithm is proposed, with the focus of eliminating the discontinuous term in order to achieve a more smooth control operation. The convergence properties of the proposed controller are analyzed via a conservative phase plane analysis. Furthermore, homogeneity considerations imply finite time convergence of states to the origin under certain model assumptions. Results demonstrate the smooth control operation compared to the direct super twisting control approach while maintaining robustness properties in relation to position tracking of a hydraulic drive, under parameter perturbations, uncertainties and un-modeled dynamics.
Original languageEnglish
Title of host publicationProceedings of ASME/Bath 2013 Symposium on Fluid Power & Motion Control : FPMC 2013
Number of pages10
PublisherAmerican Society of Mechanical Engineers
Publication date2013
ISBN (Print)978-0-7918-5608-6
DOIs
Publication statusPublished - 2013
EventASME/BATH 2013 Symposium on Fluid Power & Motion Control, FPMC2013 - Sarasota, Florida, United States
Duration: 6 Oct 20139 Oct 2013

Conference

ConferenceASME/BATH 2013 Symposium on Fluid Power & Motion Control, FPMC2013
CountryUnited States
CitySarasota, Florida
Period06/10/201309/10/2013

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Hydraulic drives
Derivatives
Controllers
Electric lines

Cite this

Schmidt, L., Andersen, T. O., & Pedersen, H. C. (2013). An approach for second order control with finite time convergence for electro-hydraulic drives. In Proceedings of ASME/Bath 2013 Symposium on Fluid Power & Motion Control: FPMC 2013 American Society of Mechanical Engineers. https://doi.org/10.1115/FPMC2013-4441
Schmidt, Lasse ; Andersen, Torben Ole ; Pedersen, Henrik C. / An approach for second order control with finite time convergence for electro-hydraulic drives. Proceedings of ASME/Bath 2013 Symposium on Fluid Power & Motion Control: FPMC 2013. American Society of Mechanical Engineers, 2013.
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abstract = "Being a second order sliding algorithm, the super twisting algorithm is highly attractive for application in control of hydraulic drives and mechanical systems in general, as it utilizes only the control error while driving the control error as well as its derivative to zero for properly chosen algorithm parameters. However a discontinuous term internally in the control structure may excite pressures of transmission lines in hydraulic drives as the control structure strives to maintain the control error and its derivative equal to zero. In this paper a modified version of a controller based on the super twisting algorithm is proposed, with the focus of eliminating the discontinuous term in order to achieve a more smooth control operation. The convergence properties of the proposed controller are analyzed via a conservative phase plane analysis. Furthermore, homogeneity considerations imply finite time convergence of states to the origin under certain model assumptions. Results demonstrate the smooth control operation compared to the direct super twisting control approach while maintaining robustness properties in relation to position tracking of a hydraulic drive, under parameter perturbations, uncertainties and un-modeled dynamics.",
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Schmidt, L, Andersen, TO & Pedersen, HC 2013, An approach for second order control with finite time convergence for electro-hydraulic drives. in Proceedings of ASME/Bath 2013 Symposium on Fluid Power & Motion Control: FPMC 2013. American Society of Mechanical Engineers, ASME/BATH 2013 Symposium on Fluid Power & Motion Control, FPMC2013, Sarasota, Florida, United States, 06/10/2013. https://doi.org/10.1115/FPMC2013-4441

An approach for second order control with finite time convergence for electro-hydraulic drives. / Schmidt, Lasse; Andersen, Torben Ole; Pedersen, Henrik C.

Proceedings of ASME/Bath 2013 Symposium on Fluid Power & Motion Control: FPMC 2013. American Society of Mechanical Engineers, 2013.

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

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AB - Being a second order sliding algorithm, the super twisting algorithm is highly attractive for application in control of hydraulic drives and mechanical systems in general, as it utilizes only the control error while driving the control error as well as its derivative to zero for properly chosen algorithm parameters. However a discontinuous term internally in the control structure may excite pressures of transmission lines in hydraulic drives as the control structure strives to maintain the control error and its derivative equal to zero. In this paper a modified version of a controller based on the super twisting algorithm is proposed, with the focus of eliminating the discontinuous term in order to achieve a more smooth control operation. The convergence properties of the proposed controller are analyzed via a conservative phase plane analysis. Furthermore, homogeneity considerations imply finite time convergence of states to the origin under certain model assumptions. Results demonstrate the smooth control operation compared to the direct super twisting control approach while maintaining robustness properties in relation to position tracking of a hydraulic drive, under parameter perturbations, uncertainties and un-modeled dynamics.

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Schmidt L, Andersen TO, Pedersen HC. An approach for second order control with finite time convergence for electro-hydraulic drives. In Proceedings of ASME/Bath 2013 Symposium on Fluid Power & Motion Control: FPMC 2013. American Society of Mechanical Engineers. 2013 https://doi.org/10.1115/FPMC2013-4441