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This paper considers the position control problem of an electro-hydraulic actuator subjected to parameter uncertainties and an external disturbance. The system is described by a comprehensive model that accounts for nonlinearities and friction effects. Friction in the hydraulic cylinder and load variations are taken into account as the external disturbance. The variable structure control with a sliding mode is used in the first step of the controller design. In order to overcome known drawbacks of the sliding mode control, fuzzy logic is applied. The simulation results show good tracking performance and strong robustness.
Czasopismo
Rocznik
Tom
Strony
81--93
Opis fizyczny
Bibliogr. 13 poz.
Twórcy
autor
- Faculty of Electronic Engineering, University of Nis, Yugoslavia
autor
- Faculty of Mechanical Engineering, University of Nis, Yugoslavia
autor
- Faculty of Mechanical Engineering, University of Nis, Yugoslavia
autor
- Faculty of Mechanical Engineering, University of Nis, Yugoslavia
Bibliografia
- Alleyne, A., Liu, R., 2000, Nonlinear Force/Pressure Tracking of an Electro-Hydraulic Actuator, ASME J. Dyn. Syst., Meas., Control, 122, 232-237.
- Antik, D., Dimitrijević, S., 1998, Non-minimum phase plant control using fuzzy sliding mode, Electronic Letters, 34, No. 11, 1156-1158.
- Aström, K.J., 1998, Control of Systems with Friction, Proc. of The fourth international conference on motion and vibration control - MOVIC, Zurich, Switzerland.
- Chern, T.L. Wu, Y.C., 1991, Design of integral variable structure controller and application to electrohydraulic velocity servosystems, Proc. Inst. Electr. Eng., pt. D, 138, No. 5, 439-444.
- Glower, J.S., Munighan, J., 1997, Designing Fuzzy Controllers from a Variable Structure Standpoint, IEEE Transactions on Fuzzy Systems, 5, No. 1.
- Ha, Q.P., Rye, D.C., Durant-White, H.F., 1999, Fuzzy Moving Sliding Mode Control with Application to Robotic Manipulators, Automatica, 35, 607-616.
- Hung, J.Y., Gao, W.C., Hung, J.C., 1993, Variable Structure Control: A Survey, IEEE Transactions on Industrial Electronics, 40, No. 1, 2-22.
- Hwang, G.C., Li, S.C., 1992, A Stability Approach to Fuzzy Control Design for Nonlinear Systems, Fuzzy Sets and Systems, 48, 279-287.
- Lischinsky, P., de Wit, C.C., Morel, G., 1999, Friction Compensation for an Industrial Hydraulic Robot, IEEE Control Systems, 25-32.
- Merit, H.E., 1967, Hydraulic Control Systems, Wiley, New York.
- Palm, R., Driankov, D., Hellendoorn, H., 1997, Model Based Fuzzy Control, Springer-Verlag, Berlin.
- Slotine, J.-J.E., Sastry, S.S., 1983, Tracking Control of Nonlinear Systems using Sliding Surfaces with Application to Robot Manipulators, /nt. J. Control, 39, 465-492.
- Sohl, G.A., Bobrow, J.E., 1999, Experiments and Simulations on the Nonlinear Control of a Hydraulic Servosystem, IEEE Trans. on Control Systems Tehnology, 7, No. 2., 238-247.
Typ dokumentu
Bibliografia
Identyfikator YADDA
bwmeta1.element.baztech-article-BWA2-0006-0107