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Reduced chatter sliding mode control for hydraulic manipulators based on continuous–time state dependent parameter models

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Reduced chatter sliding mode control for hydraulic manipulators based on continuous–time state dependent parameter models. / Nemati, Hamidreza; Bandala Sanchez, Manuel; Albrecht, Olivia; Taylor, C. James.

4th Australian and New Zealand Control Conference (ANZCC). IEEE, 2020.

Research output: Contribution in Book/Report/Proceedings - With ISBN/ISSNConference contribution/Paper

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Nemati, H, Bandala Sanchez, M, Albrecht, O & Taylor, CJ 2020, Reduced chatter sliding mode control for hydraulic manipulators based on continuous–time state dependent parameter models. in 4th Australian and New Zealand Control Conference (ANZCC). IEEE, 4th Australian and New Zealand Control Conference, Australia, 26/11/20.

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Bibtex

@inproceedings{836b1ed9bd774b969240adef6350dcee,
title = "Reduced chatter sliding mode control for hydraulic manipulators based on continuous–time state dependent parameter models",
abstract = "Sliding Mode Control (SMC) systems are developed for a hydraulic manipulator. The control model is obtained via state-dependent parameter (SDP) system identification. In contrast to previous research using discrete-time SDP models, in which the model coefficients are functions of the sampling interval, the present work develops a new continuous-time approach. It is well known that for conventional SMC there is a trade-off between chattering and robust performance. Hence, a recently developed approach to address this problem is investigated, in which the controller is designed via a fractional exponent of the sliding surface. The approach is developed for both conventional and Nonsingular Terminal SMC (NTSMC). The new continuous version of the NTSMC algorithm successfully reduces chattering and provides the best overall performance of various SMC designs. However, for the preliminary experiments reported in this article, a PID lead-lag controller yields the lowest absolute errors, albeit at the cost of a higher control effort. Hence, given that dead-zone and other uncertainties provide the main motivation for use of SMC in this application, further research into the robustness of the new algorithm is required.",
keywords = "sliding mode control, state-dependent parameter model, continuous-time, hydraulic manipulator",
author = "Hamidreza Nemati and {Bandala Sanchez}, Manuel and Olivia Albrecht and Taylor, {C. James}",
year = "2020",
month = sep,
day = "7",
language = "English",
booktitle = "4th Australian and New Zealand Control Conference (ANZCC)",
publisher = "IEEE",
note = "4th Australian and New Zealand Control Conference, ANZCC ; Conference date: 26-11-2020 Through 27-11-2020",

}

RIS

TY - GEN

T1 - Reduced chatter sliding mode control for hydraulic manipulators based on continuous–time state dependent parameter models

AU - Nemati, Hamidreza

AU - Bandala Sanchez, Manuel

AU - Albrecht, Olivia

AU - Taylor, C. James

PY - 2020/9/7

Y1 - 2020/9/7

N2 - Sliding Mode Control (SMC) systems are developed for a hydraulic manipulator. The control model is obtained via state-dependent parameter (SDP) system identification. In contrast to previous research using discrete-time SDP models, in which the model coefficients are functions of the sampling interval, the present work develops a new continuous-time approach. It is well known that for conventional SMC there is a trade-off between chattering and robust performance. Hence, a recently developed approach to address this problem is investigated, in which the controller is designed via a fractional exponent of the sliding surface. The approach is developed for both conventional and Nonsingular Terminal SMC (NTSMC). The new continuous version of the NTSMC algorithm successfully reduces chattering and provides the best overall performance of various SMC designs. However, for the preliminary experiments reported in this article, a PID lead-lag controller yields the lowest absolute errors, albeit at the cost of a higher control effort. Hence, given that dead-zone and other uncertainties provide the main motivation for use of SMC in this application, further research into the robustness of the new algorithm is required.

AB - Sliding Mode Control (SMC) systems are developed for a hydraulic manipulator. The control model is obtained via state-dependent parameter (SDP) system identification. In contrast to previous research using discrete-time SDP models, in which the model coefficients are functions of the sampling interval, the present work develops a new continuous-time approach. It is well known that for conventional SMC there is a trade-off between chattering and robust performance. Hence, a recently developed approach to address this problem is investigated, in which the controller is designed via a fractional exponent of the sliding surface. The approach is developed for both conventional and Nonsingular Terminal SMC (NTSMC). The new continuous version of the NTSMC algorithm successfully reduces chattering and provides the best overall performance of various SMC designs. However, for the preliminary experiments reported in this article, a PID lead-lag controller yields the lowest absolute errors, albeit at the cost of a higher control effort. Hence, given that dead-zone and other uncertainties provide the main motivation for use of SMC in this application, further research into the robustness of the new algorithm is required.

KW - sliding mode control

KW - state-dependent parameter model

KW - continuous-time

KW - hydraulic manipulator

M3 - Conference contribution/Paper

BT - 4th Australian and New Zealand Control Conference (ANZCC)

PB - IEEE

T2 - 4th Australian and New Zealand Control Conference

Y2 - 26 November 2020 through 27 November 2020

ER -