Robust output feedback control of electro-hydraulic system

This paper presents output feedback second order sliding mode control to achieve robust finite time position control for Electro-Hydraulic Servo System (EHSS). The system is subjected to inherent uncertainties, parametric perturbations and disturbances. A nonlinear dynamics of EHSS is represented by linear uncertain dynamics for the sake of control design. A relative degree one sliding surface is proposed. It is shown that super twisting controller using this relative degree one sliding surface attains finite time positioning. Further disturbance estimation is used to augment the control for getting desired performance with less control effort. The method is validated in simulation and experiment both. The performance of the proposed controller is compared with the super twisting controller devised using non singular terminal sliding surface which also yields finite time positioning.

[1]  Carlos Vázquez,et al.  Second order sliding mode control of a mobile hydraulic crane , 2014, 53rd IEEE Conference on Decision and Control.

[2]  B. L. Barns.  Electrical Machinery , 1933, Transactions of the American Institute of Electrical Engineers.

[3]  Torben Ole Andersen,et al.  On Application of Second Order Sliding Mode Control to Electro-Hydraulic Systems , 2014 .

[4]  Shailaja Kurode,et al.  Generalized Super-Twisting Algorithm for Control of Electro-Hydraulic Servo System , 2016 .

[5]  Zhihong Man,et al.  Non-singular terminal sliding mode control of rigid manipulators , 2002, Autom..

[6]  Arie Levant,et al.  Higher-order sliding modes, differentiation and output-feedback control , 2003 .

[7]  T. G. Ling,et al.  System identification and control of an Electro-Hydraulic Actuator system , 2012, 2012 IEEE 8th International Colloquium on Signal Processing and its Applications.

[8]  Jian Zhang,et al.  Investigation on synchronous control of electro-hydraulic servo system based on MRAC , 2015, 2015 International Conference on Fluid Power and Mechatronics (FPM).

[9]  Kouhei Ohnishi,et al.  Microprocessor-Controlled DC Motor for Load-Insensitive Position Servo System , 1985, IEEE Transactions on Industrial Electronics.

[10]  Nabil Derbel,et al.  Sliding mode control of a hydraulic servo system position using adaptive sliding surface and adaptive gain , 2015, Int. J. Model. Identif. Control..

[11]  M. Saad,et al.  Identification and Real-Time Control of an Electrohydraulic Servo System Based on Nonlinear Backstepping , 2007, IEEE/ASME Transactions on Mechatronics.

[12]  Vladimir Milić,et al.  Robust Hinfinity position control synthesis of an electro-hydraulic servo system. , 2010, ISA transactions.

[13]  Jaime A. Moreno,et al.  A linear framework for the robust stability analysis of a Generalized Super-Twisting Algorithm , 2009, 2009 6th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE).

[14]  Mohammed Y. Hassan,et al.  Position Control of Electro-hydraulic Actuator System Using Fuzzy Logic Controller Optimized by Particle Swarm Optimization , 2013, Int. J. Autom. Comput..

[15]  Yuanchun Ding,et al.  LPV Model-based Robust Controller Design of Electro-hydraulic Servo Systems , 2011 .

[16]  Kyoung Kwan Ahn,et al.  Integrated model-based backstepping control for an electro-hydraulic system , 2016 .

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

[18]  Shu Wang,et al.  Sliding Mode Controller and Filter Applied to an Electrohydraulic Actuator System , 2011 .

[19]  Jean-Pierre Kenné,et al.  Feedback Linearization-Based Position Control of an Electrohydraulic Servo System With Supply Pressure Uncertainty , 2012, IEEE Transactions on Control Systems Technology.

[20]  Abdul Rashid Husain,et al.  Sliding mode control with switching-gain adaptation based-disturbance observer applied to an electro-hydraulic actuator system , 2013, 2013 IEEE 8th Conference on Industrial Electronics and Applications (ICIEA).

[21]  Arie Levant,et al.  Chattering Analysis , 2007, IEEE Transactions on Automatic Control.

[22]  Qin Yong,et al.  Research on neural networks based modelling and control of electrohydraulic system , 2010, 2010 2nd International Conference on Advanced Computer Control.

[23]  C. D. Johnson,et al.  Accomodation of external disturbances in linear regulator and servomechanism problems , 1971 .

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

[25]  J. Moreno.  Lyapunov Approach for Analysis and Design of Second Order Sliding Mode Algorithms , 2011 .

[26]  Shailaja Kurode,et al.  Incomplete state feedback control of Electro-Hydraulic Servo System using second order sliding modes , 2016, 2016 14th International Workshop on Variable Structure Systems (VSS).

[27]  Christopher Edwards,et al.  Sliding mode control : theory and applications , 1998 .

[28]  Nariman Sepehri,et al.  Design and experimental evaluation of a robust force controller for an electro-hydraulic actuator via quantitative feedback theory , 2000 .

[29]  M. F. Rahmat,et al.  Application Of Self-Tuning Fuzzy Pid Controller On Industrial Hydraulic Actuator Using System Identification Approach , 2009 .