In this paper, we exploit the sliding mode control problem for a fluid power electrohydraulic actuator (EHA) system. To characterize the nonlinearity of the friction, the EHA system is modeled as a linear system with a system uncertainty. Practically, it is assumed that the system is also subject to the load disturbance and the external noise. An integral sliding mode controller is proposed to design. The advanced techniques such as the H ∞ control and the regional pole placement are employed to derive the optimal feedback gain which can be calculated by solving a necessary and sufficient condition in the form of linear matrix inequality. A sliding mode control law is developed such that the sliding mode reaching law is satisfied. Simulation and comparison results show the effectiveness of the proposed design method. © 2014 Springer-Verlag London.

Robust H ∞ sliding mode control with pole placement for a fluid power electrohydraulic actuator (EHA) system

KARIMI, HAMID REZA
2014-01-01

Abstract

In this paper, we exploit the sliding mode control problem for a fluid power electrohydraulic actuator (EHA) system. To characterize the nonlinearity of the friction, the EHA system is modeled as a linear system with a system uncertainty. Practically, it is assumed that the system is also subject to the load disturbance and the external noise. An integral sliding mode controller is proposed to design. The advanced techniques such as the H ∞ control and the regional pole placement are employed to derive the optimal feedback gain which can be calculated by solving a necessary and sufficient condition in the form of linear matrix inequality. A sliding mode control law is developed such that the sliding mode reaching law is satisfied. Simulation and comparison results show the effectiveness of the proposed design method. © 2014 Springer-Verlag London.
Linear matrix inequalities (LMIs); Pole placement; Sliding mode control; Control and Systems Engineering; Software; Mechanical Engineering; Computer Science Applications1707 Computer Vision and Pattern Recognition; Industrial and Manufacturing Engineering
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11311/1028734
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