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Sliding mode tracking control of a low-pressure water hydraulic cylinder under non-linear friction
- Authors
- Cho, SH; Linjama, M; Sairiala, H; Koskinen, KT; Vilenius, M
- Issue Date
- 2002
- Publisher
- PROFESSIONAL ENGINEERING PUBLISHING LTD
- Keywords
- low-pressure water hydraulic systems; discrete-time sliding function; tracking control; non-linear friction compensation
- Citation
- PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING, v.216, no.I5, pp.383 - 392
- Journal Title
- PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING
- Volume
- 216
- Number
- I5
- Start Page
- 383
- End Page
- 392
- ISSN
- 0959-6518
- Abstract
- This paper deals with a robust motion control of a low-pressure water hydraulic cylinder under non-linear friction. In order to ensure good tracking performance as well as to guarantee robustness, the sliding mode tracking control is utilized in combination with a non-linear friction compensator. Application of the scheme to a low-pressure water hydraulic cylinder position control has led to a significant reduction in tracking error when compared with the perfect tracking control scheme.
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