Robust Control of a Hydraulically Actuated Manipulator Using Sliding Mode Control

Research output: Contribution to book/anthology/report/conference proceedingArticle in proceedingResearch

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 languageEnglish
Title of host publicationProceedings of The Sixth International Conference on Fluid Power Transmission and Control (ICFP'2005)
Publication date2005
Pages864-868
Publication statusPublished - 2005
EventFluid Power Transmission and Control ICFP'2005 - Hangzhou, China
Duration: 5 Apr 20058 Apr 2005

Conference

ConferenceFluid Power Transmission and Control ICFP'2005
CountryChina
CityHangzhou
Period05/04/200508/04/2005

Fingerprint

Sliding mode control
Robust control
Manipulators
Servomechanisms
Hydraulics
Controllers

Keywords

  • Hydraulic servo system
  • Sliding mode control

Cite this

Hansen, M. R., Andersen, T. O., & Pedersen, H. C. (2005). Robust Control of a Hydraulically Actuated Manipulator Using Sliding Mode Control. In Proceedings of The Sixth International Conference on Fluid Power Transmission and Control (ICFP'2005) (pp. 864-868)
Hansen, Michael Rygaard ; Andersen, Torben Ole ; Pedersen, Henrik Clemmensen. / Robust Control of a Hydraulically Actuated Manipulator Using Sliding Mode Control. Proceedings of The Sixth International Conference on Fluid Power Transmission and Control (ICFP'2005). 2005. pp. 864-868
@inproceedings{1f9831c0d3b911dbae4a000ea68e967b,
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 = "null ; Conference date: 05-04-2005 Through 08-04-2005",

}

Hansen, MR, Andersen, TO & Pedersen, HC 2005, Robust Control of a Hydraulically Actuated Manipulator Using Sliding Mode Control. in Proceedings of The Sixth International Conference on Fluid Power Transmission and Control (ICFP'2005). pp. 864-868, Fluid Power Transmission and Control ICFP'2005, Hangzhou, China, 05/04/2005.

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 proceedingArticle in proceedingResearch

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)

Y2 - 5 April 2005 through 8 April 2005

ER -

Hansen MR, Andersen TO, Pedersen HC. Robust Control of a Hydraulically Actuated Manipulator Using Sliding Mode Control. In Proceedings of The Sixth International Conference on Fluid Power Transmission and Control (ICFP'2005). 2005. p. 864-868