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Second Order Sliding Mode Control of a Mobile Hydraulic Crane
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics.
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics.
2014 (English)In: 2014 IEEE 53RD ANNUAL CONFERENCE ON DECISION AND CONTROL (CDC), 2014, 5530-5535 p.Conference paper, Published paper (Refereed)
Abstract [en]

A second order sliding mode control design for a mobile hydraulic system, including bounded model uncertainties and external disturbances, is the subject of study. The proposed algorithm provides a continuous control signal, achieving good performance and chattering attenuation in comparison to other sliding-mode-based techniques. The design includes the formulation of a partial stability problem and we provide the required Lyapunov-function-based analysis. Experimental results are performed over an industrial setup and confirm the effectiveness of the methodology. Moreover, promising results of a comparison with the Super-Twisting and PID controllers are presented.

Place, publisher, year, edition, pages
2014. 5530-5535 p.
Series
Proceedings of the IEEE Conference on Decision & Control, ISSN 0191-2216
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:umu:diva-112540DOI: 10.1109/CDC.2014.7040254ISI: 000370073805112ISBN: 978-1-4673-6090-6 (print)OAI: oai:DiVA.org:umu-112540DiVA: diva2:881176
Conference
IEEE 53rd Annual Conference on Decision and Control (CDC), DEC 15-17, 2014, Los Angeles, CA
Available from: 2015-12-09 Created: 2015-12-09 Last updated: 2017-01-16Bibliographically approved

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Vazquez, CarlosFreidovich, Leonid
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CiteExportLink to record
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Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
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Language
  • de-DE
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Output format
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