集成液压执行器的变边界层滑模控制

2022 UKACC 13th International Conference on Control (CONTROL) Pub Date : 2022-04-20 DOI:10.1109/Control55989.2022.9781369

Dom Wilson, Ioannis Georgilas, A. Plummer, Pejman Iravani, Dhinesh Sangiah

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引用次数: 0

摘要

本文概述了变边界层滑模控制在一种新型集成液压作动器中的应用。该控制器具有对未建模动力学和参数不确定性的鲁棒性，特别是未知负载质量。仿真结果表明，与PI控制器相比，该控制器具有更好的位置跟踪性能和鲁棒性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Varying Boundary Layer Sliding Mode Control of an Integrated Hydraulic Actuator

This paper outlines the application of sliding mode control with a varying boundary layer to a novel integrated hydraulic actuator. The controller is designed for robustness against unmodelled dynamics and parametric uncertainties, in particular an unknown load mass. A single parameter is required for tuning and simulation results show superior position tracking performance and robustness compared to a PI controller.

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2022 UKACC 13th International Conference on Control (CONTROL)

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