Modeling and controller design of an industrial hydraulic actuator system in the presence of friction and internal leakage
This paper presents a robust controller scheme and its capabilities to control the position tracking performance of an electro-hydraulic actuator system. Sliding mode control with fixed and varying boundary layer is proposed in the scheme. It is aimed to compensate nonlinearities and uncertainties...
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| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
http://www.academicjournals.org/IJPS
2011
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| Subjects: | |
| Online Access: | http://eprints.utem.edu.my/id/eprint/12354/1/Modeling_and_controller_design_of_an_industrial_hydraulic_actuator_system_in_the_presence_of_friction_and_internal_leakage-IJPS.pdf http://eprints.utem.edu.my/id/eprint/12354/ |
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| Institution: | Universiti Teknikal Malaysia Melaka |
| Language: | English |
| Summary: | This paper presents a robust controller scheme and its capabilities to control the position tracking
performance of an electro-hydraulic actuator system. Sliding mode control with fixed and varying
boundary layer is proposed in the scheme. It is aimed to compensate nonlinearities and uncertainties
caused by the presence of friction and internal leakage. Its capabilities are verified through simulations
in Matlab Simulink environment. The friction was represented by the LuGre model and the internal
leakage was assumed to change. The results indicate that the scheme successfully improves the
robustness and the tracking accuracy of the system. This improvement offers a significant contribution
in the control of modern equipment positioning applications. |
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