Second order sliding mode control of a mobile hydraulic crane

A second order sliding mode control design for a mobile hydraulic system, including bounded model uncertainties and external disturbances, is the subject of study. The proposed algorithm provides a continuous control signal, achieving good performance and chattering attenuation in comparison to other sliding-mode-based techniques. The design includes the formulation of a partial stability problem and we provide the required Lyapunov-function-based analysis. Experimental results are performed over an industrial setup and confirm the effectiveness of the methodology. Moreover, promising results of a comparison with the Super-Twisting and PID controllers are presented.

[1]  Peter I. Corke,et al.  Variable structure methods in hydraulic servo systems control , 2001, Autom..

[2]  Maolin Jin,et al.  Adaptive Backstepping Control of an Electrohydraulic Actuator , 2014, IEEE/ASME Transactions on Mechatronics.

[3]  Yuri B. Shtessel,et al.  Smooth second-order sliding modes: Missile guidance application , 2007, Autom..

[4]  Cheng Guan,et al.  Adaptive sliding mode control of electro-hydraulic system with nonlinear unknown parameters , 2008 .

[5]  Jean-Pierre Barbot,et al.  Sliding Mode Control In Engineering , 2002 .

[6]  Yuri B. Shtessel,et al.  A novel adaptive-gain supertwisting sliding mode controller: Methodology and application , 2012, Autom..

[7]  Nariman Sepehri,et al.  Designing Robust Force Control of , 2001 .

[8]  Igorʹ. Boĭko.  Discontinuous Control Systems , 2008 .

[9]  Leonid B. Freidovich,et al.  Time-varying gain second order sliding mode differentiator , 2014 .

[10]  V. I. Vorotnikov.  Partial stability and control , 1998 .

[11]  Aleksej F. Filippov,et al.  Differential Equations with Discontinuous Righthand Sides , 1988, Mathematics and Its Applications.

[12]  Peter I. Corke,et al.  Experimental evaluation of position control methods for hydraulic systems , 2002, IEEE Trans. Control. Syst. Technol..

[13]  Stanislav Aranovskiy.  Modeling and identification of spool dynamics in an industrial electro-hydraulic valve , 2013, 21st Mediterranean Conference on Control and Automation.

[14]  Leonid B. Freidovich,et al.  Increasing the Level of Automation in the Forestry Logging Process with Crane Trajectory Planning and Control , 2014, J. Field Robotics.

[15]  A. Levant.  Sliding order and sliding accuracy in sliding mode control , 1993 .

[16]  Leonid M. Fridman,et al.  Second-order sliding-mode observer for mechanical systems , 2005, IEEE Transactions on Automatic Control.

[17]  Carlos Vázquez,et al.  Sliding mode control of a forestry-standard mobile hydraulic system , 2014, 2014 13th International Workshop on Variable Structure Systems (VSS).

[18]  V. I. Vorotnikov.  Partial stability and control: The state-of-the-art and development prospects , 2005 .

[19]  H. E. Merritt,et al.  Hydraulic Control Systems , 1991 .

[20]  Jan Komsta,et al.  Integral sliding mode compensator for load pressure control of die-cushion cylinder drive , 2013 .

[21]  P. Olver.  Nonlinear Systems , 2013 .

[22]  Vadim I. Utkin,et al.  Adaptive sliding mode control with application to super-twist algorithm: Equivalent control method , 2013, Autom..

[23]  Alexander S. Poznyak,et al.  Method of Lyapunov functions for systems with higher-order sliding modes , 2011 .

[24]  Gang Tao,et al.  Adaptive Control of Plants with Unknown Dead-zones , 1992, 1992 American Control Conference.

[25]  Carlos Vázquez,et al.  Position control of an industrial hydraulic system with a pressure compensator , 2014, 22nd Mediterranean Conference on Control and Automation.

[26]  Giorgio Bartolini,et al.  A survey of applications of second-order sliding mode control to mechanical systems , 2003 .

[27]  Jaime A. Moreno,et al.  Strict Lyapunov Functions for the Super-Twisting Algorithm , 2012, IEEE Transactions on Automatic Control.

[28]  Leonid M. Fridman,et al.  Variable Gain Super-Twisting Sliding Mode Control , 2012, IEEE Transactions on Automatic Control.

[29]  Arie Levant,et al.  Exact Differentiation of Signals with Unbounded Higher Derivatives , 2006, Proceedings of the 45th IEEE Conference on Decision and Control.

[30]  Takao Nishiumi,et al.  Hydraulic Control Systems: Theory And Practice , 2016 .

[31]  Bin Mu,et al.  On modeling, identification, and control of a heavy-duty electrohydraulic harvester manipulator , 2003 .