Abstract
This paper outlines the application of sliding mode control with a varying boundary layer to a novel integrated hydraulic actuator. The controller is designed for robustness against unmodelled dynamics and parametric uncertainties, in particular an unknown load mass. A single parameter is required for tuning and simulation results show superior position tracking performance and robustness compared to a PI controller.
Original language | English |
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Title of host publication | 2022 UKACC International Conference on Control (CONTROL) |
Publisher | IEEE |
Pages | 60-65 |
Number of pages | 6 |
ISBN (Electronic) | 9781665452007 |
DOIs | |
Publication status | Published - 27 May 2022 |
Event | 13th UKACC International Conference on Control, CONTROL 2022 - Plymouth, UK United Kingdom Duration: 20 Apr 2022 → 22 Apr 2022 |
Conference
Conference | 13th UKACC International Conference on Control, CONTROL 2022 |
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Country/Territory | UK United Kingdom |
City | Plymouth |
Period | 20/04/22 → 22/04/22 |
Bibliographical note
Funding Information:This work is funded by EPSRC UK
Funding
This work is funded by EPSRC UK
Keywords
- electrohydraulic servo
- integrated hydraulic actuator
- sliding mode control
- varying boundary layer
ASJC Scopus subject areas
- Control and Systems Engineering
- Mechanical Engineering
- Control and Optimization