Robust Position Tracking Control of an Electro-Hydraulic Actuator in the Presence of Friction and Internal Leakage
This paper proposes an improved robust position controller for the electro-hydraulic actuator system using the varying boundary layered sliding mode control scheme. The proposed scheme has the ability to improve the position tracking performance of the actuator in the presence of friction and i...
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Main Authors: | , , , , , , , |
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Format: | Article |
Language: | English |
Published: |
Springer
2013
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Subjects: | |
Online Access: | http://eprints.utem.edu.my/id/eprint/12355/1/Robust_Position_Tracking_Control_of_an_Electrohydraulic_Actuator_In_The_Presence_Of_Friction_and_Internal_Leakage.pdf http://eprints.utem.edu.my/id/eprint/12355/ |
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Summary: | This paper proposes an improved robust position
controller for the electro-hydraulic actuator system using the
varying boundary layered sliding mode control scheme. The
proposed scheme has the ability to improve the position tracking
performance of the actuator in the presence of friction and
internal leakage. The former is represented using the LuGre
model while later is modelled as a turbulent flow. To evaluate
the effectiveness of the proposed method, MATLAB simulations
are carried out under friction and leakage effects. Its performance
is compared with the conventional PID and fuzzy
PID (FPID) methods. Finally, an experimental rig that comprises
of a single-rod and double acting hydraulic cylinder is
set up to validate the proposed idea. The software development
is carried out in the DSpace 1104 environment using a
TMS320F240 digital signal processor. The superiority of the
proposed method over the PID and FPID in terms of tracking
position is highlighted by simulation and experimental
results |
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