Robust second order sliding mode controller for nonlinear hydraulic system

Author

Benayache, R. ; Mahmoud, S. Mahieddine ; Dovifaaz, X. ; Chrifi-Alaoui, L. ; Bussy, P.

Author_Institution

Lab. des Technol. Innovantes, Univ. de Picardie Jules Verne, Cuffies, France

fYear

2009

fDate

9-11 Dec. 2009

Firstpage

872

Lastpage

877

Abstract

This paper deals with the robust control problem of two coupled tank subjected to parameters uncertainties and external disturbance. The Standard Sliding Mode (SSM) controller produces oscillations (orÂ¿chatteringÂ¿) in the closed-loop system. The new approach High Order Sliding Mode (HOSM) is proposed to eliminate the undesired chattering effect by using the robust differentiator. The application of this method to the two-tank system illustrates the validity and the performances of our approach. The experimental results are presented and discussed in this paper.

Keywords

hydraulic systems; nonlinear control systems; robust control; uncertain systems; variable structure systems; closed- loop system; coupled tank; external disturbance; high order sliding mode; nonlinear hydraulic system; oscillations; parameters uncertainties; robust control; second order sliding mode controller; Automatic control; Control systems; Hydraulic systems; Nonlinear control systems; Nonlinear systems; Robust control; Robustness; Sliding mode control; Uncertain systems; Uncertainty; Second order sliding mode; nonlinear systems; robust differentiator; uncertain systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Automation, 2009. ICCA 2009. IEEE International Conference on

Conference_Location

Christchurch

Print_ISBN

978-1-4244-4706-0

Electronic_ISBN

978-1-4244-4707-7

Type

conf

DOI

10.1109/ICCA.2009.5410367

Filename

5410367