TY - GEN
T1 - Sliding mode control of electro-hydrostatic actuator based on extended state observer
AU - Alemu, Ataklti Eyasu
AU - Fu, Yongling
N1 - Publisher Copyright:
© 2017 IEEE.
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)
UR - https://www.scopus.com/pages/publications/85028052864
U2 - 10.1109/CCDC.2017.7978573
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
EP - 763
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 -