Force Tracking Neural Control for an Electro-Hydraulic Actuator Via Second Order Sliding Mode

Author

Lizalde, Carlos ; Loukianov, Alexander ; Sanchez, Edgar

Author_Institution

CINVESTAV, Mexico City

fYear

2005

fDate

27-29 June 2005

Firstpage

292

Lastpage

297

Abstract

This paper presents a new scheme for identification and control of an electro-hydraulic system using recurrent neural networks. The proposed neural network has the nonlinear block control form (NBC form) structure. A sliding mode control technique is applied then to design a discontinuous controller, which is able to track a force reference trajectory. Due to the presence of an unmodelled dynamics, the standard sliding mode (SSM) controller produces oscillations (or "chattering") in the closed-loop system. The relative new approach high order sliding mode (HOSM) is used to eliminate the undesired chattering effect. Simulations are presented to illustrate the results

Keywords

closed loop systems; control system synthesis; electrohydraulic control equipment; force control; identification; neurocontrollers; nonlinear control systems; sampled data systems; variable structure systems; closed-loop system; discontinuous controller; electro-hydraulic actuator; force reference trajectory; force tracking neural control; nonlinear block control form; recurrent neural networks; second order sliding mode control; Actuators; Control systems; Force control; Mathematical model; Neural networks; Nonlinear dynamical systems; Pistons; Recurrent neural networks; Sliding mode control; Switches;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control, 2005. Proceedings of the 2005 IEEE International Symposium on, Mediterrean Conference on Control and Automation

Conference_Location

Limassol

ISSN

2158-9860

Print_ISBN

0-7803-8936-0

Type

conf

DOI

10.1109/.2005.1467030

Filename

1467030