Varying Boundary Layer Sliding Mode Control of an Integrated Hydraulic Actuator

Varying Boundary Layer Sliding Mode Control of an Integrated Hydraulic Actuator

This paper outlines the application of sliding mode control with a varying boundary layer to a novel integrated hydraulic actuator. The controller is designed for robustness against unmodelled dynamics and parametric uncertainties, in particular an unknown load mass. A single parameter is required f...

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Bibliographic Details
Published in:2022 UKACC 13th International Conference on Control (CONTROL) pp. 60 - 65
Main Authors: Wilson, Dom, Georgilas, Ioannis, Plummer, Andrew, Iravani, Pejman, Sangiah, Dhinesh
Format: Conference Proceeding
Language:English
Published: IEEE 20-04-2022
Subjects:
Damping
electrohydraulic servo
Electrohydraulics
Hydraulic actuators
integrated hydraulic actuator
Resonant frequency
Robustness
Simulation
sliding mode control
Uncertainty
varying boundary layer
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Summary:This paper outlines the application of sliding mode control with a varying boundary layer to a novel integrated hydraulic actuator. The controller is designed for robustness against unmodelled dynamics and parametric uncertainties, in particular an unknown load mass. A single parameter is required for tuning and simulation results show superior position tracking performance and robustness compared to a PI controller.
DOI:10.1109/Control55989.2022.9781369