Title :
Sliding mode control with fuzzy tuning for an electrohydraulic position servo system
Author :
Ha, Q.P. ; Nguyen, H.Q. ; Rye, D.C. ; Durrant-Whyte, H.F.
Author_Institution :
Dept. of Mech. & Mechatronic Eng., Sydney Univ., NSW, Australia
Abstract :
This paper presents a novel robust sliding mode controller for a class of nonlinear systems. The control signal consists of: an equivalent control to assign the desired dynamics to the closed-loop system, a switching control to guarantee a sliding mode, and a fuzzy control to enhance fast tracking and to attenuate chattering. Sufficient conditions for asymptotic tracking are achieved when matching conditions are satisfied. The control method is applied to the position control of an electrohydraulic servo system. To verify the potential and effectiveness of the proposed controller, simulation results are given to demonstrate its strong robustness against a large range of parameter variations, load disturbance and nonlinear spring stiffness
Keywords :
closed loop systems; electrohydraulic control equipment; fuzzy control; nonlinear systems; position control; robust control; servomechanisms; tracking; tuning; variable structure systems; asymptotic tracking; closed-loop system; dynamics; electrohydraulic servo system; fuzzy control; fuzzy tuning; load disturbance; nonlinear spring stiffness; nonlinear systems; position control; robust control; sliding mode control; sufficient conditions; Control systems; Electrohydraulics; Fuzzy control; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear systems; Position control; Robust control; Sliding mode control; Sufficient conditions;
Conference_Titel :
Knowledge-Based Intelligent Electronic Systems, 1998. Proceedings KES '98. 1998 Second International Conference on
Conference_Location :
Adelaide, SA
Print_ISBN :
0-7803-4316-6
DOI :
10.1109/KES.1998.725838
