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SIMULATED AND EXPERIMENTAL SLIDING MODE CONTROL OF A HYDRAULIC POSITIONING SYSTEM

Wondimu, Nahom Abebe
http://rave.ohiolink.edu/etdc/view?acc_num=akron1145419922

Abstract Details

2006, Master of Science, University of Akron, Mechanical Engineering.
This thesis illustrates the application of a non-linear robust control to deal with friction variations in a hydraulic positioning system. The hydraulic system is modeled using analytical and experimental identification techniques considering both linear and nonlinear dynamics of the system. In the literature the friction is usually modeled as a function of velocity which has static, Coulomb and viscous friction components. However, there are several fascinating properties observed in systems with friction. This research is aimed at investigating the friction phenomenon and performing experiments on hydraulic positioning system to validate the identification of dynamic friction model (behavior in pre-sliding friction regime). The LuGre friction model which combines the pre-sliding behavior as well as the steady state characteristics is used to model and predict the friction for the controller design. A sliding mode controller is developed which has a feedback linearizing component plus additional terms that explicitly deal with system uncertainties due to friction and other unknowns. The sliding mode controller performed well during the experiments and simulations.
Celal Batur (Advisor)
100 p.
Hydraulic system modeling; sliding mode control; LuGre friction model; static friction; dynamic friction; identification of friction parametres; Simulation of a hydraulic system

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Citations

  • Wondimu, N. A. (2006). SIMULATED AND EXPERIMENTAL SLIDING MODE CONTROL OF A HYDRAULIC POSITIONING SYSTEM [Master's thesis, University of Akron]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=akron1145419922

    APA Style (7th edition)

  • Wondimu, Nahom. SIMULATED AND EXPERIMENTAL SLIDING MODE CONTROL OF A HYDRAULIC POSITIONING SYSTEM. 2006. University of Akron, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=akron1145419922.

    MLA Style (8th edition)

  • Wondimu, Nahom. "SIMULATED AND EXPERIMENTAL SLIDING MODE CONTROL OF A HYDRAULIC POSITIONING SYSTEM." Master's thesis, University of Akron, 2006. http://rave.ohiolink.edu/etdc/view?acc_num=akron1145419922

    Chicago Manual of Style (17th edition)

akron1145419922
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© 2006, all rights reserved.
This open access ETD is published by University of Akron and OhioLINK.