Observer-based sliding mode control of hydraulic cylinders in the presence of unknown load forces

Publikation: Beitrag in einer FachzeitschriftArtikelForschungBegutachtung

Abstract

A laboratory hydraulic setup consisting of a coupled actuating and load cylinder is investigated in order to emulate real world working conditions of heavy equipment such as excavators and loaders. An observer-based control scheme is proposed to regulate the position of the actuating cylinder. It relies on on-line identification of unknown parameter as well as reconstruction and compensation of unknown load forces, such that the performance of the closed position feedback loop is superior compared to classical control strategies. The applied method exploit ideas of variable structure systems in the design of both, the observer and the parameter identification scheme.
Originalspracheenglisch
Seiten (von - bis)253–260
Seitenumfang1
Fachzeitschrifte&i - Elektrotechnik und Informationstechnik
Jahrgang133
Ausgabenummer6
DOIs
PublikationsstatusVeröffentlicht - 2016

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Sliding mode control
Hydraulics
Hydraulic laboratories
Excavators
Loaders
Identification (control systems)
Feedback
Compensation and Redress

Schlagwörter

    Fields of Expertise

    • Information, Communication & Computing

    Treatment code (Nähere Zuordnung)

    • Experimental

    Dies zitieren

    Observer-based sliding mode control of hydraulic cylinders in the presence of unknown load forces. / Koch, Stefan; Reichhartinger, Markus.

    in: e&i - Elektrotechnik und Informationstechnik, Jahrgang 133, Nr. 6, 2016, S. 253–260.

    Publikation: Beitrag in einer FachzeitschriftArtikelForschungBegutachtung

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    abstract = "A laboratory hydraulic setup consisting of a coupled actuating and load cylinder is investigated in order to emulate real world working conditions of heavy equipment such as excavators and loaders. An observer-based control scheme is proposed to regulate the position of the actuating cylinder. It relies on on-line identification of unknown parameter as well as reconstruction and compensation of unknown load forces, such that the performance of the closed position feedback loop is superior compared to classical control strategies. The applied method exploit ideas of variable structure systems in the design of both, the observer and the parameter identification scheme.",
    keywords = "robust control, sliding mode control, robust exact differentiation, finite time parameter estimation, uncertain systems, hydraulic actuator",
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    AU - Reichhartinger, Markus

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    AB - A laboratory hydraulic setup consisting of a coupled actuating and load cylinder is investigated in order to emulate real world working conditions of heavy equipment such as excavators and loaders. An observer-based control scheme is proposed to regulate the position of the actuating cylinder. It relies on on-line identification of unknown parameter as well as reconstruction and compensation of unknown load forces, such that the performance of the closed position feedback loop is superior compared to classical control strategies. The applied method exploit ideas of variable structure systems in the design of both, the observer and the parameter identification scheme.

    KW - robust control

    KW - sliding mode control

    KW - robust exact differentiation

    KW - finite time parameter estimation

    KW - uncertain systems

    KW - hydraulic actuator

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