A common problem pertaining to linear or nonlinear systems is the design of a combined robust control and estimation strategy that can effectively deal with noise and uncertainties. The variable structure control (VSC) and its special form of sliding mode control (SMC) demonstrate robustness with regard to uncertainties, although their performance can be severely degraded by noise. As such they can benefit from using state estimates obtained from filters. In this regard, this paper considers the use of a recently proposed robust state and parameter estimation strategy referred to as the variable structure filter (VSF) in conjunction with SMC. The contribution of this paper is a new strategy that combines sliding mode control with the variable structure filter. In the presence of bounded parametric uncertainties and noise, this combined method demonstrates robust stability both in terms of control and state estimation. Furthermore, the combined strategy can be used to achieve high regulation rates or short settling time. The combined VSF and SMC strategy is demonstrated by its application to a high precision hydrostatic system, referred to as the electrohydraulic actuator system.
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e-mail: richard.burton@usask.ca
e-mail: habibi@mcmaster.ca
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March 2011
Technical Briefs
Sliding Mode Controller and Filter Applied to an Electrohydraulic Actuator System
Richard Burton,
Richard Burton
Department of Mechanical Engineering,
e-mail: richard.burton@usask.ca
University of Saskatchewan
, 57 Campus Drive, Saskatoon, SK, S7N 5A9, Canada
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Saeid Habibi
Saeid Habibi
Department of Mechanical Engineering,
e-mail: habibi@mcmaster.ca
McMaster University
, Hamilton, ON, L8S 4L7, Canada
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Shu Wang
Richard Burton
Department of Mechanical Engineering,
University of Saskatchewan
, 57 Campus Drive, Saskatoon, SK, S7N 5A9, Canadae-mail: richard.burton@usask.ca
Saeid Habibi
Department of Mechanical Engineering,
McMaster University
, Hamilton, ON, L8S 4L7, Canadae-mail: habibi@mcmaster.ca
J. Dyn. Sys., Meas., Control. Mar 2011, 133(2): 024504 (7 pages)
Published Online: February 28, 2011
Article history
Received:
January 7, 2010
Revised:
August 2, 2010
Online:
February 28, 2011
Published:
February 28, 2011
Citation
Wang, S., Burton, R., and Habibi, S. (February 28, 2011). "Sliding Mode Controller and Filter Applied to an Electrohydraulic Actuator System." ASME. J. Dyn. Sys., Meas., Control. March 2011; 133(2): 024504. https://doi.org/10.1115/1.4003206
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