Finite-time convergent continuous control design based on sliding mode algorithms with application to a hydraulic drive

Research output: Contribution to journalJournal articleResearchpeer-review

Abstract

Sliding modes impose strong robustness toward parametric plant uncertainties and disturbances and provide for accurate tracking performance in control systems. However, in physical systems the application of sliding modes may give rise to undesirable chattering of the control signal due to actuator dynamics, possible excitation of unmodelled dynamics and structural resonant modes of load systems, etc. This may be avoided by application of smoothing functions imposing boundary layers on the control constraint, or by carrying out the design in relation to the control derivative. However, such boundary layers introduce additional design parameters and actuator dynamics may not allow the desired control accuracy to be reached. In this paper continuous controllers are proposed, with the designs taking their offset in some well-known sliding controllers. The proposed controllers preserve the finite-time convergence properties known from sliding control while at the same time avoiding control chattering, however, on the cost of robustness. Experimental results confirm the announced properties when applied to a hydraulic valve-cylinder drive, and demonstrates superior performance over conventional linear controllers.
Original languageEnglish
JournalInternational Journal of Mechatronics and Automation
Volume4
Issue number3
Pages (from-to)188-199
Number of pages12
ISSN2045-1059
DOIs
Publication statusPublished - 2014

Fingerprint

Hydraulic drives
Sliding Mode
Control Design
Hydraulics
Controller
Chattering
Boundary Layer
Actuator
Controllers
Robustness
Smoothing Function
Unmodeled Dynamics
Control Constraints
Signal Control
Boundary layers
Actuators
Parameter Design
Convergence Properties
Excitation
Disturbance

Keywords

  • Finite-time convergence
  • Non-linear control
  • Electro-hydraulic systems
  • sliding mode algorithms

Cite this

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title = "Finite-time convergent continuous control design based on sliding mode algorithms with application to a hydraulic drive",
abstract = "Sliding modes impose strong robustness toward parametric plant uncertainties and disturbances and provide for accurate tracking performance in control systems. However, in physical systems the application of sliding modes may give rise to undesirable chattering of the control signal due to actuator dynamics, possible excitation of unmodelled dynamics and structural resonant modes of load systems, etc. This may be avoided by application of smoothing functions imposing boundary layers on the control constraint, or by carrying out the design in relation to the control derivative. However, such boundary layers introduce additional design parameters and actuator dynamics may not allow the desired control accuracy to be reached. In this paper continuous controllers are proposed, with the designs taking their offset in some well-known sliding controllers. The proposed controllers preserve the finite-time convergence properties known from sliding control while at the same time avoiding control chattering, however, on the cost of robustness. Experimental results confirm the announced properties when applied to a hydraulic valve-cylinder drive, and demonstrates superior performance over conventional linear controllers.",
keywords = "Finite-time convergence, Non-linear control, Electro-hydraulic systems, sliding mode algorithms",
author = "Lasse Schmidt and Andersen, {Torben Ole} and Pedersen, {Henrik C.}",
year = "2014",
doi = "10.1504/IJMA.2014.064100",
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journal = "International Journal of Mechatronics and Automation",
issn = "2045-1059",
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TY - JOUR

T1 - Finite-time convergent continuous control design based on sliding mode algorithms with application to a hydraulic drive

AU - Schmidt, Lasse

AU - Andersen, Torben Ole

AU - Pedersen, Henrik C.

PY - 2014

Y1 - 2014

N2 - Sliding modes impose strong robustness toward parametric plant uncertainties and disturbances and provide for accurate tracking performance in control systems. However, in physical systems the application of sliding modes may give rise to undesirable chattering of the control signal due to actuator dynamics, possible excitation of unmodelled dynamics and structural resonant modes of load systems, etc. This may be avoided by application of smoothing functions imposing boundary layers on the control constraint, or by carrying out the design in relation to the control derivative. However, such boundary layers introduce additional design parameters and actuator dynamics may not allow the desired control accuracy to be reached. In this paper continuous controllers are proposed, with the designs taking their offset in some well-known sliding controllers. The proposed controllers preserve the finite-time convergence properties known from sliding control while at the same time avoiding control chattering, however, on the cost of robustness. Experimental results confirm the announced properties when applied to a hydraulic valve-cylinder drive, and demonstrates superior performance over conventional linear controllers.

AB - Sliding modes impose strong robustness toward parametric plant uncertainties and disturbances and provide for accurate tracking performance in control systems. However, in physical systems the application of sliding modes may give rise to undesirable chattering of the control signal due to actuator dynamics, possible excitation of unmodelled dynamics and structural resonant modes of load systems, etc. This may be avoided by application of smoothing functions imposing boundary layers on the control constraint, or by carrying out the design in relation to the control derivative. However, such boundary layers introduce additional design parameters and actuator dynamics may not allow the desired control accuracy to be reached. In this paper continuous controllers are proposed, with the designs taking their offset in some well-known sliding controllers. The proposed controllers preserve the finite-time convergence properties known from sliding control while at the same time avoiding control chattering, however, on the cost of robustness. Experimental results confirm the announced properties when applied to a hydraulic valve-cylinder drive, and demonstrates superior performance over conventional linear controllers.

KW - Finite-time convergence

KW - Non-linear control

KW - Electro-hydraulic systems

KW - sliding mode algorithms

U2 - 10.1504/IJMA.2014.064100

DO - 10.1504/IJMA.2014.064100

M3 - Journal article

VL - 4

SP - 188

EP - 199

JO - International Journal of Mechatronics and Automation

JF - International Journal of Mechatronics and Automation

SN - 2045-1059

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