Manuel A. Estrada , Michael Ruderman , Oscar Texis-Loaiza , Leonid Fridman
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引用次数: 0
Abstract
This paper presents the robust trajectory tracking of a hydraulic cylinder using an output feedback sliding mode technique. The proposed control scheme relies only on measuring the position of the cylinder rod. A robust, exact, finite-time observer of the output’s derivatives is provided to attain the control goal. Then, a continuous third-order sliding mode controller for the system with relative degree three is designed using the estimated derivatives. It is shown that the separation principle can be used for the closed-loop system, which includes the higher-order sliding mode observer and the controller. The paper includes experimental results on a hydraulic setup in which a second energized cylinder is also connected in an antagonistic way to produce external dynamic disturbances and demonstrate the control method’s feasibility and robustness.
期刊介绍：
Control Engineering Practice strives to meet the needs of industrial practitioners and industrially related academics and researchers. It publishes papers which illustrate the direct application of control theory and its supporting tools in all possible areas of automation. As a result, the journal only contains papers which can be considered to have made significant contributions to the application of advanced control techniques. It is normally expected that practical results should be included, but where simulation only studies are available, it is necessary to demonstrate that the simulation model is representative of a genuine application. Strictly theoretical papers will find a more appropriate home in Control Engineering Practice''s sister publication, Automatica. It is also expected that papers are innovative with respect to the state of the art and are sufficiently detailed for a reader to be able to duplicate the main results of the paper (supplementary material, including datasets, tables, code and any relevant interactive material can be made available and downloaded from the website). The benefits of the presented methods must be made very clear and the new techniques must be compared and contrasted with results obtained using existing methods. Moreover, a thorough analysis of failures that may happen in the design process and implementation can also be part of the paper.
The scope of Control Engineering Practice matches the activities of IFAC.
Papers demonstrating the contribution of automation and control in improving the performance, quality, productivity, sustainability, resource and energy efficiency, and the manageability of systems and processes for the benefit of mankind and are relevant to industrial practitioners are most welcome.
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