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

Research output: Contribution to journalArticleResearchpeer-review

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.
Original languageEnglish
Pages (from-to)253–260
Number of pages1
Journale&i - Elektrotechnik und Informationstechnik
Volume133
Issue number6
DOIs
Publication statusPublished - 2016

Fingerprint

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

Keywords

  • robust control
  • sliding mode control
  • robust exact differentiation
  • finite time parameter estimation
  • uncertain systems
  • hydraulic actuator

Fields of Expertise

  • Information, Communication & Computing

Treatment code (Nähere Zuordnung)

  • Experimental

Cite this

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, Vol. 133, No. 6, 2016, p. 253–260.

Research output: Contribution to journalArticleResearchpeer-review

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