Title :
Sliding mode control of a forestry-standard mobile hydraulic system
Author :
Vazquez, Carlos ; Aranovskiy, Stanislav ; Freidovich, Leonid
Author_Institution :
Dept. of Appl. Phys. & Electron., Umea Univ., Umea, Sweden
fDate :
June 29 2014-July 2 2014
Abstract :
In this paper, a sliding mode control design for a forestry-standard mobile hydraulic system, including bounded model uncertainties and external disturbances, is proposed. The approach includes inverse of a dead-zone-like nonlinearity and a feedforward compensation. Besides, two strategies for chattering attenuation are implemented, improving the overall performance. Experimental results performed over an industrial setup confirm efficacy of the proposed methodology. Additionally, a comparison with a PID controller is presented.
Keywords :
compensation; control nonlinearities; control system synthesis; forestry; hydraulic systems; variable structure systems; bounded model uncertainties; chattering attenuation; dead-zone-like nonlinearity; external disturbances; feedforward compensation; forestry-standard mobile hydraulic system; industrial setup; sliding mode control design; Attenuation; Control systems; Force; Lyapunov methods; Stability analysis; Valves;
Conference_Titel :
Variable Structure Systems (VSS), 2014 13th International Workshop on
Conference_Location :
Nantes
DOI :
10.1109/VSS.2014.6881143
