Sliding mode control of electro-hydrostatic actuator based on extended state observer

Ataklti Eyasu Alemu; Yongling Fu

doi:10.1109/CCDC.2017.7978573

Sliding mode control of electro-hydrostatic actuator based on extended state observer

Ataklti Eyasu Alemu
, Yongling Fu

School of Mechanical Engineering and Automation

Beihang University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

11 Scopus citations

Abstract

To achieve the desired performance of an electro-hydrostatic actuator (EHA), this paper proposes a linear extended state observer (ESO) based sliding mode control (SMC). An ESO is used to estimate the external disturbance, the uncertainties, speed and acceleration of the EHA. The non linear mathematical model of EHA is a function of the derivatives of the friction force and externally applied force. However it is either difficult or impossible to get these values. To avoid these difficulties the EHA model is constructed in AMESim, the control system is developed in Matlab/Simulink and a co simulation is carried out. The performance of the proposed controller is compared with a PID controller. The simulation results illustrated superior tracking performance and robustness of the ESO based SMC.

Original language	English
Title of host publication	Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	758-763
Number of pages	6
ISBN (Electronic)	9781509046560
DOIs	https://doi.org/10.1109/CCDC.2017.7978573
State	Published - 12 Jul 2017
Event	29th Chinese Control and Decision Conference, CCDC 2017 - Chongqing, China Duration: 28 May 2017 → 30 May 2017

Publication series

Name	Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017

Conference

Conference	29th Chinese Control and Decision Conference, CCDC 2017
Country/Territory	China
City	Chongqing
Period	28/05/17 → 30/05/17

Keywords

AMESim
Electro Hydrostatic Actuator (EHA)
Extended State Observer (ESO)
Sliding Mode Control (SMC)

Access to Document

10.1109/CCDC.2017.7978573

Cite this

Alemu, A. E., & Fu, Y. (2017). Sliding mode control of electro-hydrostatic actuator based on extended state observer. In Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017 (pp. 758-763). Article 7978573 (Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CCDC.2017.7978573

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title = "Sliding mode control of electro-hydrostatic actuator based on extended state observer",

abstract = "To achieve the desired performance of an electro-hydrostatic actuator (EHA), this paper proposes a linear extended state observer (ESO) based sliding mode control (SMC). An ESO is used to estimate the external disturbance, the uncertainties, speed and acceleration of the EHA. The non linear mathematical model of EHA is a function of the derivatives of the friction force and externally applied force. However it is either difficult or impossible to get these values. To avoid these difficulties the EHA model is constructed in AMESim, the control system is developed in Matlab/Simulink and a co simulation is carried out. The performance of the proposed controller is compared with a PID controller. The simulation results illustrated superior tracking performance and robustness of the ESO based SMC.",

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Alemu, AE & Fu, Y 2017, Sliding mode control of electro-hydrostatic actuator based on extended state observer. in Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017., 7978573, Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017, Institute of Electrical and Electronics Engineers Inc., pp. 758-763, 29th Chinese Control and Decision Conference, CCDC 2017, Chongqing, China, 28/05/17. https://doi.org/10.1109/CCDC.2017.7978573

Sliding mode control of electro-hydrostatic actuator based on extended state observer. / Alemu, Ataklti Eyasu; Fu, Yongling.
Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 758-763 7978573 (Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Sliding mode control of electro-hydrostatic actuator based on extended state observer

AU - Alemu, Ataklti Eyasu

AU - Fu, Yongling

PY - 2017/7/12

Y1 - 2017/7/12

N2 - To achieve the desired performance of an electro-hydrostatic actuator (EHA), this paper proposes a linear extended state observer (ESO) based sliding mode control (SMC). An ESO is used to estimate the external disturbance, the uncertainties, speed and acceleration of the EHA. The non linear mathematical model of EHA is a function of the derivatives of the friction force and externally applied force. However it is either difficult or impossible to get these values. To avoid these difficulties the EHA model is constructed in AMESim, the control system is developed in Matlab/Simulink and a co simulation is carried out. The performance of the proposed controller is compared with a PID controller. The simulation results illustrated superior tracking performance and robustness of the ESO based SMC.

AB - To achieve the desired performance of an electro-hydrostatic actuator (EHA), this paper proposes a linear extended state observer (ESO) based sliding mode control (SMC). An ESO is used to estimate the external disturbance, the uncertainties, speed and acceleration of the EHA. The non linear mathematical model of EHA is a function of the derivatives of the friction force and externally applied force. However it is either difficult or impossible to get these values. To avoid these difficulties the EHA model is constructed in AMESim, the control system is developed in Matlab/Simulink and a co simulation is carried out. The performance of the proposed controller is compared with a PID controller. The simulation results illustrated superior tracking performance and robustness of the ESO based SMC.

KW - AMESim

KW - Electro Hydrostatic Actuator (EHA)

KW - Extended State Observer (ESO)

KW - Sliding Mode Control (SMC)

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DO - 10.1109/CCDC.2017.7978573

M3 - 会议稿件

AN - SCOPUS:85028052864

T3 - Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017

SP - 758

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BT - Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 29th Chinese Control and Decision Conference, CCDC 2017

Y2 - 28 May 2017 through 30 May 2017

ER -

Alemu AE, Fu Y. Sliding mode control of electro-hydrostatic actuator based on extended state observer. In Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017. Institute of Electrical and Electronics Engineers Inc. 2017. p. 758-763. 7978573. (Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017). doi: 10.1109/CCDC.2017.7978573

Sliding mode control of electro-hydrostatic actuator based on extended state observer

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