Design and Experimental Evaluation of a Robust Position Controller for an Electrohydrostatic Actuator Using Adaptive Antiwindup Sliding Mode Scheme
Joint Authors
Lee, Ji Min
Park, Sung Hwan
Kim, Jong Shik
Source
Issue
Vol. 2013, Issue 2013 (31 Dec. 2013), pp.1-16, 16 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2013-07-22
Country of Publication
Egypt
No. of Pages
16
Main Subjects
Medicine
Information Technology and Computer Science
Abstract EN
A robust control scheme is proposed for the position control of the electrohydrostatic actuator (EHA) when considering hardware saturation, load disturbance, and lumped system uncertainties and nonlinearities.
To reduce overshoot due to a saturation of electric motor and to realize robustness against load disturbance and lumped system uncertainties such as varying parameters and modeling error, this paper proposes an adaptive antiwindup PID sliding mode scheme as a robust position controller for the EHA system.
An optimal PID controller and an optimal anti-windup PID controller are also designed to compare control performance.
An EHA prototype is developed, carrying out system modeling and parameter identification in designing the position controller.
The simply identified linear model serves as the basis for the design of the position controllers, while the robustness of the control systems is compared by experiments.
The adaptive anti-windup PID sliding mode controller has been found to have the desired performance and become robust against hardware saturation, load disturbance, and lumped system uncertainties and nonlinearities.
American Psychological Association (APA)
Lee, Ji Min& Park, Sung Hwan& Kim, Jong Shik. 2013. Design and Experimental Evaluation of a Robust Position Controller for an Electrohydrostatic Actuator Using Adaptive Antiwindup Sliding Mode Scheme. The Scientific World Journal،Vol. 2013, no. 2013, pp.1-16.
https://search.emarefa.net/detail/BIM-1033082
Modern Language Association (MLA)
Lee, Ji Min…[et al.]. Design and Experimental Evaluation of a Robust Position Controller for an Electrohydrostatic Actuator Using Adaptive Antiwindup Sliding Mode Scheme. The Scientific World Journal No. 2013 (2013), pp.1-16.
https://search.emarefa.net/detail/BIM-1033082
American Medical Association (AMA)
Lee, Ji Min& Park, Sung Hwan& Kim, Jong Shik. Design and Experimental Evaluation of a Robust Position Controller for an Electrohydrostatic Actuator Using Adaptive Antiwindup Sliding Mode Scheme. The Scientific World Journal. 2013. Vol. 2013, no. 2013, pp.1-16.
https://search.emarefa.net/detail/BIM-1033082
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1033082