Sliding mode controller for robust force control o hydraulic actuator with environmental uncertainties

  • Jaouad Boumhidi L.E.S.S.I, Département de PhysiqueFaculté des Sciences Dhar El Mehraz B.P: 1796, 30000 Fes-Atlas,
  • Mostafa Mrabti L.E.S.S.I, Département de PhysiqueFaculté des Sciences Dhar El Mehraz B.P: 1796, 30000 Fes-Atlas,

Resumen

In this paper, a reduced order linear model is selected to describe the hydraulic servo-actuator with large environmental uncertainties. The exploitation in simulation of the perturbed 5th order linear model is enough for the first approach, that is to say, before experimentation to value the studied law control potential. Because its robust character and superior performance in environmental uncertainties, a sliding mode controller, based on the so called equivalent control and robust control components is designed for control of the output force to track asymptotically the desired trajectory with no chattering problems. A comparison with H-infinity controller shows that the proposed sliding mode controller is robustly performant.

Keywords : Sliding mode control, hydraulic Servo-Actuator, output tracking.

Cómo citar
Boumhidi, J., & Mrabti, M. (2005). Sliding mode controller for robust force control o hydraulic actuator with environmental uncertainties. Revista Colombiana De Computación, 6(1), 1-10. Recuperado a partir de https://revistas.unab.edu.co/index.php/rcc/article/view/1067

Descargas

La descarga de datos todavía no está disponible.
Publicado
2005-06-01
Sección
Artículo de investigación científica y tecnológica